EP3134749A1 - Verfahren zum erkennen eines blockierten zustands eines ultraschallsensors eines kraftfahrzeugs, ultraschallsensorvorrichtung und kraftfahrzeug - Google Patents
Verfahren zum erkennen eines blockierten zustands eines ultraschallsensors eines kraftfahrzeugs, ultraschallsensorvorrichtung und kraftfahrzeugInfo
- Publication number
- EP3134749A1 EP3134749A1 EP15717178.6A EP15717178A EP3134749A1 EP 3134749 A1 EP3134749 A1 EP 3134749A1 EP 15717178 A EP15717178 A EP 15717178A EP 3134749 A1 EP3134749 A1 EP 3134749A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- ultrasonic sensor
- sensor
- motor vehicle
- ultrasonic
- evaluation device
- 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.)
- Ceased
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
- G01S7/527—Extracting wanted echo signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- 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
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Definitions
- the invention relates to a method for detecting a blocked state of an ultrasonic sensor of a motor vehicle, in which at least one
- Vibration parameter of the ultrasonic sensor is detected and by a
- a detection algorithm is executed, with which for detecting the blocked state of at least one
- the invention also relates to a
- Ultrasonic sensor device which is designed for carrying out such a method, as well as a motor vehicle with such an ultrasonic sensor device.
- ultrasonic sensors are covered with additional mass, this should be reliably detected.
- the known methods for detecting ice or dirt are fundamentally based on the evaluation of side effects caused by the additional mass on the ultrasonic sensor. Thus, for example, the so-called settling time of the membrane of the.
- Ultrasonic sensor influences or it is a virtual echo or a false echo generated, which can be detected by appropriate evaluation of the electrical received signal of the ultrasonic sensor.
- the additional mass neither leads to a change in the decay time of the membrane nor causes additional echoes.
- the Blocked state of the ultrasonic sensor can not be detected, and the sensor is no longer able to detect a real object or reliably detect the distances.
- Resonant frequency of the ultrasonic sensor measured and compared with stored reference values. This method is based on the fact that the resonant frequency of the ultrasonic sensor is a direct indicator of a fouling, ice or snow layer, since this additional layer affects the mass of the harmonic oscillation. Namely, the oscillating mass and consequently also the resonant frequency of the sensor change with the additional mass of the dirt or the ice or snow layer.
- DE 10 2010 021 960 A1 describes a method in which
- Detection of the blocked state of an ultrasonic sensor is evaluated the decay time of the membrane over several measuring cycles of the ultrasonic sensor.
- a further plausibility check may be that the detection of the blocked state takes place only on condition that a temperature of the surroundings of the motor vehicle is below a predetermined limit value. This limit can be, for example, 0 ° C.
- a predetermined limit value can be, for example, 0 ° C.
- Detection of the blocked state can be reduced.
- Vibration parameters represent a reliable measure of an additional mass on the membrane of the ultrasonic sensor.
- the evaluation of the oscillation parameters-in particular the decay time- may in some situations only lead to insufficient results, since in addition to an additional mass there are also other factors which influence the oscillation parameters, and in particular the decay time.
- the measurement of the current settling time of an ultrasonic sensor is then adversely affected when an object is very close to the ultrasonic sensor and thus generates an echo which is received by the ultrasonic sensor even within the decay time and thus flows into the decay time.
- the determination of the blindness of the ultrasonic sensor by evaluating the settling time is then not possible or only to a limited extent.
- This object is achieved by a method by a
- a blocked state is understood to mean a state concealed by an additional mass, such as, in particular, a state of the ice covered by ice and / or snow and / or dirt
- Ultrasonic sensor in which the additional mass adheres as a coating on the membrane of the ultrasonic sensor.
- At least one oscillation parameter of the Detected ultrasonic sensor such as a decay time and / or a
- a detection algorithm is executed, with which for detecting the blocked state of at least one
- Vibration parameter is evaluated. For example, under the
- Detection algorithm a current actual value of the at least one vibration parameter to be compared with at least one threshold, so that depending on this
- Comparison is checked whether the ultrasonic sensor is blocked or not. On the basis of sensor data of at least one sensor of the motor vehicle, an object in an environmental region of the motor vehicle is detected by the evaluation device. If the evaluation device then detects that a distance of the object from the ultrasonic sensor falls below a predefined threshold value, then the execution of the detection algorithm is omitted, or a blocked state of the ultrasonic sensor detected by the detection algorithm is detected by the
- the ultrasonic sensor when an object or obstacle outside of the vehicle is detected very close to the ultrasonic sensor, an unobstructed state of the ultrasonic sensor is always assumed. On the one hand, this is made possible by the fact that after detection of the new object, the detection algorithm is not executed at all. On the other hand, this can also be implemented in such a way that after detection of the new object, the positive detection of the blocked state is ignored and the ultrasonic sensor is nevertheless classified as non-blocked. Such an approach can prevent errors in the detection of the blocked state and reduce the misdetection rate to a minimum. If an object is located very close to the ultrasound sensor, this will cause the ultrasound waves (target echo) reflected by the object to still be present during the so-called
- Decay time of the membrane are received by the ultrasonic sensor and thus affect the measurement of the decay time.
- This influence leads in the prior art to the fact that a blocked state of the ultrasonic sensor is erroneously detected and displayed, although the ultrasonic sensor is actually "clean" and thus fully functional -blocked state of the
- the ultrasonic sensor may be a sensor whose diaphragm is in a continuous recess of a trim part, for example a bumper, the motor vehicle is arranged and is thus visible from outside the motor vehicle.
- the ultrasonic sensor is arranged on a rear side of the trim part in such a way that the membrane rests against the rear side of the trim part and transmits and receives the ultrasonic signals through the material of the trim part.
- the evaluation device is preferably a central control device, by means of which a plurality of ultrasonic sensors of the motor vehicle are controlled.
- This control unit can serve, for example, for controlling a group of ultrasonic sensors, which are arranged on a bumper. It can also be a
- Act control unit which is common to all ultrasonic sensors, which are arranged on the front and on the rear bumper.
- this threshold value corresponds to a signal propagation time of ultrasound waves that is greater than or equal to a nominal value of a settling time of the ultrasound sensor that adjusts itself to an unblocked ultrasound sensor. This has the advantage that the object is classified as a close object, even before its target echo in the
- Decay time of the ultrasonic sensor flows in and falsifies the measurement of the decay time.
- the actual current settling time of the ultrasonic sensor can thus be precisely measured without this measurement being distorted by the target echo of the near object. If the distance of the object falls below the threshold value so that the target echo of the object is at least partially received within the settling time, the execution of the detection algorithm is omitted or the detection of the blocked state is ignored. The misdetection rate is thus minimal.
- Evaluation device output a corresponding warning signal, with which the driver to the blocked state and thus to the need for cleaning the
- Ultrasound sensor is visually and / or acoustically and / or haptically pointed. If, however, it is detected that the distance of the object from the ultrasonic sensor falls below the threshold value, the evaluation device can detect the blockage Ignore state. This means, in particular, that the output of the warning signal by the evaluation device is omitted. The driver is thereby not disturbed unnecessarily by the output of a warning signal.
- the object is tracked by the evaluation device over time on the basis of the sensor data. This means, in particular, that a position of the object relative to the ultrasonic sensor is continuously determined by the evaluation device on the basis of the sensor data. In other words, a digital environment map of the
- Evaluation device is always known, so that the evaluation can determine very precisely when the object enters the vicinity of the ultrasonic sensor and the distance of the object falls below the threshold.
- the sensor data by means of which the object is detected-and in particular also tracked-are provided by the ultrasound sensor itself and / or by at least one environment sensor of the motor vehicle that is separate from the ultrasound sensor.
- the sensor data are provided by the ultrasound sensor itself.
- the tracking of the object on the basis of the sensor data of the ultrasound sensor can then entail that, after the object has entered a blind region of the ultrasound sensor, the relative position of the object is extrapolated and / or determined based on sensor data of at least one environmental sensor of the motor vehicle that is separate from the ultrasound sensor.
- the blind area preferably corresponds to a distance from the ultrasonic sensor which corresponds to the settling time (normal value of the settling time) of the ultrasonic sensor. In this way, the relative position of the object in the evaluation device is still known, so that the evaluation device can also detect that the distance of the object from the ultrasonic sensor again exceeds the threshold value and the
- Detection algorithm executed again or the detection of the blocked state can not be ignored.
- the sensor data can be provided additionally or alternatively by at least one environmental sensor of the motor vehicle that is separate from the ultrasound sensor.
- a radar sensor and / or a lidar Sensor and / or a camera and / or another ultrasonic sensor can be used. This has the advantage that the current position of the object relative to the ultrasound sensor or relative to the motor vehicle can also be determined very precisely even when the object is located in said blind area of the ultrasound sensor.
- a resonance frequency and / or a decay time and / or a vibration amplitude of the membrane of the ultrasonic sensor can be evaluated as a vibration parameter for detecting the blocked state of the ultrasonic sensor.
- the resonant frequency is the intrinsic frequency of the membrane, which varies depending on the actual oscillatory mass and is measured immediately after excitation of the membrane, i. when decaying the membrane.
- the resonance frequency is therefore a decay frequency.
- Decay time a period of time for which the membrane remains in vibration after completion of the excitation by a corresponding piezoelectric element.
- the invention also relates to an ultrasonic sensor device for a motor vehicle, having at least one ultrasonic sensor and having an evaluation device which is designed to carry out a method according to the invention.
- a motor vehicle according to the invention in particular a passenger car, comprises an ultrasonic sensor device according to the invention.
- Embodiments and their advantages apply correspondingly to the ultrasonic sensor device according to the invention and to the motor vehicle according to the invention.
- FIG. 1 is a schematic representation of a motor vehicle with an ultrasonic sensor device according to an embodiment of the invention.
- the motor vehicle 1 is for example a passenger car.
- the motor vehicle 1 comprises an ultrasonic sensor device 2, which has a plurality of ultrasonic sensors 3 and an electronic evaluation device 4, for example in the form of a control device.
- Ultrasonic sensors 3 are shown in FIG. 1 by way of example only and may vary depending on the embodiment. In the embodiment, a plurality of
- Ultrasonic sensors 3 arranged on a front bumper 5 of the motor vehicle 1; a plurality of ultrasonic sensors 3 are also arranged on a rear bumper 6 of the motor vehicle 1.
- two alternative embodiments may be provided. For one thing, the
- Ultrasonic sensors 3 are each arranged in a recess of the respective bumper 5, 6, so that the membranes of the respective ultrasonic sensors 3 are disposed within the respective continuous recess of the bumper 5, 6.
- a concealed installation of the ultrasonic sensors 3 behind the respective bumper 5, 6 may be provided, so that the membranes of
- Ultrasonic sensors 3 at the back of the respective bumper 5, 6 abut and send the ultrasonic signals through the material of the bumper 5, 6 through and receive.
- the ultrasonic sensors 3 are each for detecting distances to in one
- driver assistance systems 7a to 7x may be provided, which are designed to provide different functionalities in the motor vehicle 1, based on the measured distances of the ultrasonic sensors 3.
- the different driver assistance systems 7a to 7x are shown as separate components ; But several functionalities can also be done through a common control unit are provided, which then takes over the function of several driver assistance systems.
- driver assistance systems 7a to 7x for example, the following systems can be provided: a parking assistance system, in which the measured distances are emitted acoustically and / or optically
- an automatic parking assistance system for automatic parking, an automatic brake assist system, which for autonomous braking of the motor vehicle 1 due to a detected based on the measured values of the ultrasonic sensors 3
- Risk of collision a system for blind spot monitoring, a system for
- the evaluation device 4 can separately check for each ultrasonic sensor 3 whether this ultrasonic sensor 3 is covered by an additional mass, such as soiling and / or ice and / or snow, and thus blocked in its functionality. For this purpose, the current actual value of at least one vibration parameter which describes the acoustic behavior of the respective ultrasound sensor 3 is detected in each ultrasound sensor 3. The actual value of the at least one
- Vibration parameter is transmitted from the respective ultrasonic sensor 3 to the
- Evaluation device 4 transmits so that it detects the current actual value of the at least one vibration parameter.
- the respective resonant frequency and / or the respective decay time can be detected as oscillation parameters.
- a detection algorithm is then executed in the evaluation device 4, preferably continuously, in which the current actual value of the at least one vibration parameter is compared with a stored limit value. In this case, such a limit can be defined both upwards and downwards. If it is detected by the evaluation device 4 that the actual value of the vibration parameter passes (exceeds or falls below the assigned limit value), the evaluation device 4 can interpret this to mean that the ultrasonic sensor 3 is blocked by an additional mass in its functionality. In this case, the evaluation device 4 a corresponding
- the evaluation device 3 may optionally be coupled to at least one environment sensor 8 different from the ultrasonic sensors 3, such as a radar sensor and / or a lidar sensor and / or a camera.
- This environment sensor 8 then also provides sensor data for the environment of the motor vehicle 1 and transmits this sensor data to the evaluation device 4.
- Evaluation device 4 the above, at least one vibration parameter of the respective ultrasonic sensor 3, for example, the settling time and / or the resonant frequency.
- the detection algorithm is carried out, in which the at least one vibration parameter is evaluated and in this case compared with the at least one limit value. On the basis of this comparison, it is then checked according to step S3, whether the ultrasonic sensor 3 is blocked or not. If this is not the case, the method returns to step S1. Is the
- step S4 a warning signal is output in step S4, which signals the need for cleaning the ultrasonic sensors 3.
- Warning signal can be issued visually or visually and / or acoustically and / or haptically.
- step S5 sensor data of the ultrasonic sensors 3 and / or sensor data of at least one separate environment sensor 8.
- step S6 the evaluation device 4 then detects an off-vehicle object 9 (see FIG. 1) based on the sensor data.
- the object 9 is tracked over time, which means that its position relative to
- Motor vehicle 1 is provided, and the position of the object 9 is entered in this digital environment map.
- the determination of the current position of the object 9 takes place in step S7.
- the sensor data of the ultrasonic sensors 3 can be used for this purpose, which can be used both by so-called cross measurements (indirect
- a first ultrasonic sensor 3 transmits the ultrasonic waves while another ultrasonic sensor 3 operates as a receiving sensor receiving the target echoes.
- another ultrasonic sensor 3 operates as a receiving sensor receiving the target echoes.
- Ultrasonic sensor 3 operated both as a transmission sensor and as a receiving sensor, so that this ultrasonic sensor 3 both emits the ultrasonic waves and receives the target echoes.
- this ultrasonic sensor 3 both emits the ultrasonic waves and receives the target echoes.
- the sensor data of the at least one environment sensor 8 are used.
- these can also be used with the
- step S8 the evaluation device 4 checks whether a current distance D from an ultrasonic sensor 3 falls below a predetermined threshold value G.
- This threshold value G corresponds to a signal propagation time of ultrasonic waves which is greater than or equal to a normal value of the decay time of the ultrasonic sensor 3, i. a settling time, which sets in non-blocked ultrasonic sensor 3.
- Threshold G for the distance D can therefore correspond in particular to a blind area of the ultrasound sensor 3, in which no detection is possible, since the
- Target echoes are received during the decay time.
- step S8 If it is detected in step S8 that the distance D is greater than the threshold value G, the process returns to step S5 again. If an undershooting of the threshold value G is detected, two alternative approaches are possible: On the one hand, the evaluation device 4 can ignore the detection of a blocked state according to step S3 and prevent the output of the warning signal. On the other hand, the execution of the detection algorithm according to step S2 can be interrupted for a short time. These measures are taken only until the distance D of the object 9 exceeds the predetermined threshold value G again.
- the tracking of the object 9 can take place with the aid of extrapolation and / or sensor data from the other ultrasound sensors 3 and / or the at least one environmental sensor 8 are performed.
- the position of the object 9 relative to the ultrasound sensor 3 is therefore also known when the object 9 is in the blind area of the ultrasound sensor 3.
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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)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014105646.9A DE102014105646A1 (de) | 2014-04-22 | 2014-04-22 | Verfahren zum Erkennen eines blockierten Zustands eines Ultraschallsensors eines Kraftfahrzeugs, Ultraschallsensorvorrichtung und Kraftfahrzeug |
PCT/EP2015/058605 WO2015162132A1 (de) | 2014-04-22 | 2015-04-21 | Verfahren zum erkennen eines blockierten zustands eines ultraschallsensors eines kraftfahrzeugs, ultraschallsensorvorrichtung und kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3134749A1 true EP3134749A1 (de) | 2017-03-01 |
Family
ID=52988068
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15717178.6A Ceased EP3134749A1 (de) | 2014-04-22 | 2015-04-21 | Verfahren zum erkennen eines blockierten zustands eines ultraschallsensors eines kraftfahrzeugs, ultraschallsensorvorrichtung und kraftfahrzeug |
Country Status (5)
Country | Link |
---|---|
US (1) | US10571555B2 (de) |
EP (1) | EP3134749A1 (de) |
CN (1) | CN106461779B (de) |
DE (1) | DE102014105646A1 (de) |
WO (1) | WO2015162132A1 (de) |
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DE102013021328A1 (de) * | 2013-12-17 | 2015-06-18 | Valeo Schalter Und Sensoren Gmbh | Ultraschallsensoreinrichtung für ein Kraftfahrzeug, Kraftfahrzeug und entsprechendes Verfahren |
US9990853B1 (en) * | 2016-03-02 | 2018-06-05 | Lockheed Martin Corporation | Material detection on a road |
DE102017118883A1 (de) * | 2017-08-18 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Ultraschallsensorvorrichtung für ein Kraftfahrzeug mit Anpassung eines zeitlichen Verlaufs einer Amplitude bei frequenzmodulierten Anregungssignalen |
DE102017127587A1 (de) * | 2017-11-22 | 2019-05-23 | Valeo Schalter Und Sensoren Gmbh | Anordnung für ein Kraftfahrzeug mit einem Ultraschallsensor und mit einem Dämpfungselement, welches Armierungselemente aufweist sowie Vorrichtung |
DE102017221692A1 (de) * | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Verfahren zur Überprüfung einer wenigstens einen Ultraschallsensor aufweisenden Abstandsmessvorrichtung eines Kraftfahrzeugs |
CN109955829B (zh) * | 2017-12-25 | 2023-12-05 | 宝马股份公司 | 清洁激光雷达传感器的方法及装置 |
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DE102018205048A1 (de) * | 2018-04-04 | 2019-10-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Funktionsüberwachung von Ultraschallsensoren |
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JP5251927B2 (ja) * | 2010-06-21 | 2013-07-31 | 日産自動車株式会社 | 移動距離検出装置及び移動距離検出方法 |
DE102012014199A1 (de) * | 2012-07-18 | 2014-02-06 | Valeo Schalter Und Sensoren Gmbh | Vorrichtung zum Detektieren einer Überflutung eines Kraftfahrzeugs, Kraftfahrzeug und entsprechendes Verfahren |
DE102012220311B4 (de) * | 2012-11-08 | 2023-03-30 | Robert Bosch Gmbh | Verfahren zur Detektion der Sensordegradation bei Abstandssensoren |
DE102013205269A1 (de) * | 2013-03-26 | 2014-02-13 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Antriebsstranges |
DE102013211419A1 (de) * | 2013-06-18 | 2014-12-18 | Robert Bosch Gmbh | Ultraschallbasierter Meßsensor und Verfahren zum Betreiben eines ultraschallbasierten Meßsensors |
JP5915605B2 (ja) * | 2013-08-30 | 2016-05-11 | トヨタ自動車株式会社 | 運転支援装置 |
CN103465887A (zh) * | 2013-09-23 | 2013-12-25 | 孙宏水 | 防车辆追尾装置及其控制方法 |
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2014
- 2014-04-22 DE DE102014105646.9A patent/DE102014105646A1/de active Pending
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2015
- 2015-04-21 EP EP15717178.6A patent/EP3134749A1/de not_active Ceased
- 2015-04-21 WO PCT/EP2015/058605 patent/WO2015162132A1/de active Application Filing
- 2015-04-21 US US15/305,541 patent/US10571555B2/en active Active
- 2015-04-21 CN CN201580032903.0A patent/CN106461779B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2015071110A1 (de) * | 2013-11-14 | 2015-05-21 | Volkswagen Aktiengesellschaft | Kraftfahrzeug mit verdeckungserkennung für ultraschallsensoren |
Non-Patent Citations (1)
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See also references of WO2015162132A1 * |
Also Published As
Publication number | Publication date |
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CN106461779A (zh) | 2017-02-22 |
US10571555B2 (en) | 2020-02-25 |
US20170045611A1 (en) | 2017-02-16 |
CN106461779B (zh) | 2021-01-05 |
WO2015162132A1 (de) | 2015-10-29 |
DE102014105646A1 (de) | 2015-10-22 |
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