EP3574336A1 - Procédé et système d'identification d'objets à partir de signaux ultrasonores - Google Patents

Procédé et système d'identification d'objets à partir de signaux ultrasonores

Info

Publication number
EP3574336A1
EP3574336A1 EP17828862.7A EP17828862A EP3574336A1 EP 3574336 A1 EP3574336 A1 EP 3574336A1 EP 17828862 A EP17828862 A EP 17828862A EP 3574336 A1 EP3574336 A1 EP 3574336A1
Authority
EP
European Patent Office
Prior art keywords
echo
echo amplitudes
amplitudes
received
amplitude
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Withdrawn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
EP17828862.7A
Other languages
German (de)
English (en)
Inventor
Dirk Schmid
Albrecht Klotz
Michael Schumann
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 EP3574336A1 publication Critical patent/EP3574336A1/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Withdrawn legal-status Critical Current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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • G01S7/52006—Means for monitoring or calibrating with provision for compensating the effects of temperature
    • 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
    • G01S7/53—Means for transforming coordinates or for evaluating data, e.g. using computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • 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
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/53—Means for transforming coordinates or for evaluating data, e.g. using computers
    • G01S7/533—Data rate converters

Definitions

  • the invention relates to a method for recognizing objects on the basis of
  • Ultrasound signals Furthermore, a computer program and a system for carrying out the method as well as a vehicle with a driving assistance system, which has such a system.
  • Modern vehicles are equipped with a variety of driver assistance systems that assist the driver in performing various maneuvers using data about the surroundings of the vehicle. To fulfill their tasks require such driver assistance systems as accurate as possible image of the environment of the vehicle.
  • the image of the surroundings of the vehicle is generated with various sensors, for example with the aid of ultrasonic sensors.
  • a signal is emitted by the ultrasonic sensors, the echo of which is reflected by an obstacle on the ultrasonic sensors, d. H. same or different than that
  • Propagation speed of the signal the distance between the vehicle and the reflective obstacle can be calculated.
  • Ultrasonic sensors have a field of view within which they can perceive obstacles. The sensitivity of the
  • Ultrasonic signals are known, which includes an ultrasonic transducer to send an ultrasonic pulse to a workpiece and errors or defects to detect in the workpiece.
  • a reflected echo signal is received and converted into an analog / digital converter. Since the amplitude of the echo signals decreases due to the propagation distance, it is corrected to a fixed peak in discrete steps after an amplitude correction curve.
  • a method for operating an ultrasonic measuring device comprising the steps of receiving echo amplitudes, determining object distances to the received echo amplitudes, calculating normalized echo amplitudes to the received echo amplitudes, wherein a received echo amplitude having a specific object distance dividing a reference echo amplitude to the same or similar object distance, encoding the normalized echo amplitudes and transmitting the encoded echo amplitudes to a controller.
  • Echo amplitudes temporally successively emitted ultrasonic pulses after reflection on an object is received, and wherein the sequence of calculated normalized echo amplitudes is analyzed to determine a significance of the object.
  • normalization helps to "eliminate" the distance-dependent component, resulting in a reflection pattern that can be considered an object-specific fingerprint.
  • the method comprises a step of comparing the sequence of calculated normalized echo amplitudes for different reference objects to determine a significance of the object.
  • the echo amplitude depends on a variety of factors.
  • the echo amplitude depends on the distance of the object to the transmitting / receiving unit.
  • the echo amplitude also depends on the retroreflective cross section of the object, so the return cross section is for a very narrow, thin object, for example, much lower than a thick, large object.
  • the echo amplitude also depends on the type of
  • the structure of the object can also have an influence on the echo amplitude, for example due to interference effects.
  • the reference echo amplitude used must be selected well and above all according to the expected ratios.
  • the reference object is arranged on a main axis of the sensor.
  • the reference object is selected from the group consisting of geometric figures such as pipe, vertical wall or ball.
  • a pipe is used.
  • the tube preferably has a diameter of 30 mm to 30 cm, more preferably 50 mm to 5 cm, even more preferably 50 mm to 100 mm, in particular about 75 mm.
  • an echo pattern is obtained, which is a
  • Vehicle behavior of a vehicle can be controlled, e.g. around
  • Echo amplitudes continue to depend on the environmental conditions. The attenuation is dependent on the traveled echo distance, therefore, an indication of the temperature and humidity is made in the distance-dependent reference amplitude dependence. In particular, the absorption of ultrasound in air depends on the temperature, the air pressure and the humidity. Humidity and temperature are dominant. The decrease in echo amplitude is typically given in dB / m.
  • Air temperature of -20 ° C and a humidity of 90% RH this is typically 0.4 dB / m, at + 40 ° C and 20% RH it is 2.2 dB / m. Due to these large differences, there are considerable differences in coverage.
  • the reference echo amplitude of the reference object used in the method is therefore determined according to a preferred embodiment under standard conditions, for. B. at 22.5 ° C air temperature and 40% relative humidity.
  • the reference echo amplitudes are preferably stored in a local memory of the ultrasound transceiver so that they are available during operation of the ultrasound transceiver.
  • the reference echo amplitudes are stored in a table that is indexed with the object distance.
  • the received echo amplitude which has been assigned a particular object distance, is divided by a reference echo amplitude having the same or similar object distance.
  • similar object distance is understood, for example, to mean that the object distance of the object currently being detected is as small as possible, and this can be carried out very quickly in a table which is indexed with the object distance to interpolate the interpolation points.
  • the encoding step comprises logarithmizing the normalized echo amplitudes.
  • the logarithmization is advantageous because in the evaluation of the amplitudes of the echo signals a great dynamic is to be expected. This takes into account the fact that the reflectance cross sections vary very greatly in the large number of possible objects. Furthermore, this takes into account the fact that the amplitude generally drops polynomially, for example, like 1 / x. Even weak signals from distant objects can thus be adequately utilized.
  • the process can take place virtually in real time. It may be provided to interpolate between the interpolation points.
  • the echo amplitudes are discretized as 6-bit values. The resulting data reduction is particularly advantageous in connection with the logarithmation of the echo amplitudes, and the system can operate in a network with a low data transmission rate
  • a preferred embodiment of the method is to detect objects in the environment of a vehicle.
  • a first module which is adapted to receive object distances Determine echo amplitudes
  • a second module which is adapted to calculate normalized echo amplitudes to the received echo amplitudes, wherein a received echo amplitude with a certain object distance by a
  • Reference echo amplitude is divided into the same or similar object distance, and with a third module which is adapted to encode the normalized echo amplitudes and transmit to a control unit.
  • the system is configured to execute one of the methods described herein. Therefore, the features described in one of the methods apply correspondingly to the system, and conversely, features described in the context of the system apply correspondingly to the methods.
  • the following is calculated in the transmitting / receiving unit: a) Distance-dependent standardization as described above. Either in the transmitter / receiver unit or in the control unit is carried out: b) The correction of the ambient conditions.
  • a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device.
  • Parts of the computer program in particular the calculation of normalized echo amplitudes and the coding of the normalized echo amplitudes, can be carried out by a microcontroller of an ultrasound transceiver, further parts being connected to a control unit (ECU).
  • the computer program may, for example, be a module for implementing a driver assistance system or a subsystem thereof in a vehicle.
  • the computer program can be stored on a machine-readable storage medium, for example on a permanent or rewritable storage medium, or in association with a computer device or on a removable CD-ROM, DVD, Blu-ray Disc or a USB stick. Additionally or alternatively, the
  • Computer program on a computer device such as a server for downloading, for example, in a data network such as the Internet or a communication connection such as a
  • a vehicle is provided with a driver assistance system including such a system.
  • the driver assistance system can be configured, for example, as a parking assistant, with which parking spaces in the surroundings of the vehicle are determined and, if necessary, the vehicle is guided into one of the determined parking spaces. Further refinement possibilities are, for example, a blind spot assistant, which warns a driver of the vehicle of objects in the blind spot, or a reversing assistant, which assists the driver in a reverse drive of the vehicle.
  • Echo amplitudes determined, but it can be made statements about which type of object was detected. In particular, you can
  • the procedure uses only a previously determined database
  • Object distance ahead which can be stored in a memory of the ultrasonic transmitting / receiving unit.
  • the actual comparison requires only a few calculation steps in the case of implementation with a table.
  • Figure 1 shows a situation with a vehicle that is an inventive
  • FIG. 1 schematically shows a vehicle 2 with a device according to the invention
  • the driver assistance system 4 comprises a transmitting / receiving unit 6 and a control unit 8.
  • the transmitting / receiving unit 6 may comprise one or more ultrasonic transducers with which the surroundings of the vehicle 2 can be detected.
  • transmission signals in the form of ultrasound pulses 10 are emitted by the transmitting / receiving unit 6 and receive reflected signals from objects 14, 16, 18, which are also referred to as echo amplitudes 12 within the scope of the present disclosure.
  • the distances of the objects 14, 16, 18 to the transmitting / receiving unit 6 can be determined by means of runtime analysis. At temporal succession
  • emitted ultrasound pulses 10 results in reflection on the same object 14,16, 18, a sequence of echo amplitudes 12, which is detected by the transmitting / receiving unit 6, or be.
  • the vehicle 2 approaches the objects 14, 16, 18.
  • the positions of the objects 14, 16, 18 at a later time are shown by dashed lines.
  • the distances from the transmitting / receiving unit 6 to the respective objects 14, 16, 18 have been reduced.
  • the object 14 is a narrow circular object, for example a lamppost or the like.
  • Distance dependence of the echo amplitude in this object is determined under standard conditions of 22.5 ° C and 40% relative humidity as 1 / r 1 ' 5 , where r denotes the distance, which is shown in Figure 2 as a curve Ki.
  • the object 16 is a vertical wall, for example a garage door, to which the vehicle 2 travels.
  • the vertical wall results in standard conditions of 22.5 ° C and 40% relative humidity, a distance dependence of 1 / r, which is shown in Figure 2 as a curve K2.
  • the third object 18 is a bush, which may have a diffuse reflection characteristic.
  • an echo amplitude 12 results for each of the three objects 14, 16, 18 in the illustrated situation, which is examined when carrying out the method according to the invention.
  • the respective object distance of the echo amplitude 12 is determined from the transit time of the echo signal.
  • a reference echo amplitude of a reference object is determined at the same or similar object distance and the detected echo amplitudes 12 are normalized echo amplitudes by dividing the received
  • Echo amplitudes 12 calculated by the reference echo amplitude.
  • the normalized echo amplitudes are logarithmized, discretized and transmitted to the control unit 8.
  • the control unit 8 already gains first information about the object from a single normalized echo amplitude.
  • Object 16 the vertical wall, has a much larger reflection cross section than object 14, the tube.
  • the reference object is a pipe
  • the normalized echo amplitude will be substantially constant. From this it can be concluded that the object 14 matches or is very similar to the reference object.
  • the vertical wall becomes on the other hand, the echo amplitude is not constant, from which it can be concluded that it is not a pipe but a larger object.
  • the third object 18, the bush can be made for the third object 18, the bush.
  • the control unit 8 typically receives a time sequence of normalized, coded echo amplitudes and further determines therefrom the significance of the detected object 14, 16, 18.
  • the invention is not limited to the embodiments described here and the aspects highlighted therein. Rather, within the scope given by the claims a variety of modifications are possible, which are within the scope of expert action.

Landscapes

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

Abstract

L'invention concerne un procédé pour faire fonctionner un dispositif de mesure à ultrasons, qui comprend les étapes consistant à recevoir des amplitudes d'écho (12), à déterminer des distances à des objets en fonction des amplitudes d'écho (12) reçues, à calculer des amplitudes d'écho normalisées par rapport aux amplitudes d'écho (12) reçues, une amplitude d'écho (12) reçue corrélée à une distance à l'objet définie étant divisée par une amplitude d'écho de référence corrélée à la même distance à l'objet ou à une distance à l'objet similaire, à coder les amplitudes d'écho normalisées et à transmettre les amplitudes d'écho codées à un appareil de commande (8). L'invention concerne en outre un programme informatique et un système permettant la mise en oeuvre dudit procédé ainsi qu'un véhicule (2) équipé d'un système d'aide à la conduite (4).
EP17828862.7A 2017-01-26 2017-12-11 Procédé et système d'identification d'objets à partir de signaux ultrasonores Withdrawn EP3574336A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017201219.6A DE102017201219A1 (de) 2017-01-26 2017-01-26 Verfahren und System zum Erkennen von Objekten anhand von Ultraschallsignalen
PCT/EP2017/082262 WO2018137834A1 (fr) 2017-01-26 2017-12-11 Procédé et système d'identification d'objets à partir de signaux ultrasonores

Publications (1)

Publication Number Publication Date
EP3574336A1 true EP3574336A1 (fr) 2019-12-04

Family

ID=60957255

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17828862.7A Withdrawn EP3574336A1 (fr) 2017-01-26 2017-12-11 Procédé et système d'identification d'objets à partir de signaux ultrasonores

Country Status (5)

Country Link
US (1) US11086012B2 (fr)
EP (1) EP3574336A1 (fr)
CN (1) CN110235015A (fr)
DE (1) DE102017201219A1 (fr)
WO (1) WO2018137834A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019215393A1 (de) * 2019-10-08 2021-04-08 Robert Bosch Gmbh Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5422244B2 (fr) * 1973-04-09 1979-08-06
JPS5698650A (en) 1980-01-11 1981-08-08 Hitachi Ltd Ultrasonic-signal processing device
DE10146095A1 (de) 2001-09-19 2003-04-03 Bosch Gmbh Robert Verfahren zur Abstandsmessung
DE102004047479A1 (de) * 2004-09-30 2006-04-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem
DE102006053267A1 (de) * 2006-11-06 2008-05-08 Valeo Schalter Und Sensoren Gmbh Verfahren zur Bestimmung der relativen Lage von einem im Umfeld eines Fahrzeugs vorhandenen Hindernisses und Umfelderfassungssystem
US7623061B2 (en) * 2006-11-15 2009-11-24 Autoliv Asp Method and apparatus for discriminating with respect to low elevation target objects
DE102007042220A1 (de) * 2007-09-05 2009-03-12 Robert Bosch Gmbh Objektklassifizierungsverfahren, Einparkhilfeverfahren und Einparkhilfesystem
DE102010041424A1 (de) 2010-09-27 2012-03-29 Robert Bosch Gmbh Verfahren zum Erfassen eines Umfelds eines Fahrzeugs
US8878697B2 (en) * 2011-10-19 2014-11-04 Balu Subramanya Directional speed and distance sensor
JP6481520B2 (ja) * 2015-06-05 2019-03-13 トヨタ自動車株式会社 車両の衝突回避支援装置

Also Published As

Publication number Publication date
WO2018137834A1 (fr) 2018-08-02
DE102017201219A1 (de) 2018-07-26
US20190369238A1 (en) 2019-12-05
US11086012B2 (en) 2021-08-10
CN110235015A (zh) 2019-09-13

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