EP3574342A1 - Dispositif à capteurs à ultrasons - Google Patents

Dispositif à capteurs à ultrasons

Info

Publication number
EP3574342A1
EP3574342A1 EP18700460.1A EP18700460A EP3574342A1 EP 3574342 A1 EP3574342 A1 EP 3574342A1 EP 18700460 A EP18700460 A EP 18700460A EP 3574342 A1 EP3574342 A1 EP 3574342A1
Authority
EP
European Patent Office
Prior art keywords
frequency
ultrasonic
ultrasonic sensor
modulated
khz
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Withdrawn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
EP18700460.1A
Other languages
German (de)
English (en)
Inventor
Dirk Schmid
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 EP3574342A1 publication Critical patent/EP3574342A1/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Withdrawn legal-status Critical Current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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8979—Combined Doppler and pulse-echo imaging systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • 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
    • G01S7/521—Constructional features
    • 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 present invention relates to an ultrasonic sensor device.
  • Ultrasonic sensor device is advantageously usable in a vehicle.
  • Ultrasonic-based measuring systems are used to measure a distance to an object located in front of an ultrasonic sensor.
  • the ultrasonic sensors used are based on the pulse-echo method. In this operation, the sensor emits an ultrasonic pulse and measures the reflection of the ultrasonic pulse caused by an object, thus the echo. The distance between the sensor and the object is calculated using the measured echo time and the speed of sound.
  • the ultrasonic sensor acts as transmitter and receiver.
  • ultrasonic sensors typically four or six ultrasonic sensors are used in a bumper to measure an environment in front of and behind the vehicle.
  • the information in front and behind refer to a usual direction of travel of the vehicle.
  • special excitation patterns are known, which are also referred to as codes that are used for transmitting the ultrasonic pulse.
  • the processing of the echoes is done by matched filters, so-called matched filters.
  • Ideal codes are characterized in that the codes are orthogonal to each other. This means that the codes have a maximum dissimilarity, so a matched filter attenuates all but the associated code to 0 amplitude. In practice, however, such complete suppression by the matched filters is not feasible. In particular, the suppression is bad if only a small bandwidth is available for the codes. For converters designed to resonate, the bandwidth is particularly limited and the rejection correspondingly poor.
  • the ultrasonic sensor device has
  • the ultrasonic sensor device comprises a plurality of
  • the ultrasonic sensor device also comprises a control device for driving the ultrasonic sensors.
  • the control unit is set up to use either the ultrasonic sensors as a transmitter or as a receiver. Is done
  • Stimulated stimulation pattern whereby this emits an ultrasonic pulse. If, however, the ultrasonic sensor is used as the receiver, then none occurs
  • Control and the ultrasonic sensor generates upon arrival of an ultrasonic pulse, a corresponding signal which is detectable by the control unit.
  • the control unit is also set up, optionally either a first group of
  • Ultrasonic sensors are excited with an excitation pattern, whereby the Transmission of the ultrasonic signal is initiated. If no activation, then the respective ultrasonic sensor is used exclusively as a receiver. Under an active
  • Ultrasonic sensor is thus to be understood in the context of this invention, such an ultrasonic sensor, which currently emits an ultrasonic signal, in particular an ultrasonic pulse.
  • Ultrasonic pulse is a time-limited ultrasonic signal.
  • the control unit is finally set up to actuate adjacent active ultrasonic sensors with different frequency-modulated excitation patterns.
  • Side by side active ultrasonic sensors mean that only those ultrasonic sensors are considered that actually emit an ultrasonic signal.
  • Such ultrasonic sensors, which were not activated by the control unit are not taken into account here.
  • there is a non-active ultrasonic sensor between two active ultrasonic sensors This means that the ultrasonic sensors are divided into the first group and the second group such that no ultrasonic sensors of the first group are arranged adjacent and no ultrasonic sensors of the second
  • each ultrasonic sensor from the first group is arranged adjacent to an ultrasonic sensor from the second group.
  • each ultrasonic sensor from the second group is arranged adjacent to an ultrasonic sensor from the first group.
  • the ultrasonic sensors are driven with different linear, frequency-modulated chirps, which means that the
  • Frequency of the excitation changed linearly within a predefined period of time.
  • the measures of the frequency-modulated stimulation pattern which differs in adjacent active ultrasonic sensors, as well as the advantageous separation of active ultrasonic sensors by an inactive ultrasonic sensor described above, prevents the echoes reflected by objects in the environment from being reflected back to the ultrasonic sensor device can be. Rather, each echo can be clearly assigned to an ultrasonic sensor of the plurality of ultrasonic sensors. Due to the frequency modulated stimulus pattern high separability is achieved by appropriate filters, in particular by matched filters.
  • the frequency-modulated pickup pattern comprise a continuous frequency change within a predefined bandwidth.
  • the predefined bandwidth is advantageously identical in size for all stimulus patterns, but may also be different in particular.
  • the continuous frequency change means a linear frequency change, wherein the frequency can be increased linearly or linearly reduced.
  • the linear frequency change allows easy control of the ultrasonic sensors by the controller.
  • Stimulation pattern allows a safe and reliable suppression of
  • the pulse duration is long or the coefficient numbers of matched filters are large. This is advantageously achieved for pulse lengths of more than one millisecond.
  • adjacent active sensors have opposite frequency changes.
  • adjacent active sensors have opposite frequency changes.
  • Frequency change advantageously comprises at least 3 kHz. Particularly advantageous is provided that the first group and the second group of
  • Ultrasonic sensors each comprise half of the ultrasonic sensors. Thus, one half of the ultrasonic sensors is independent of another half of the
  • Ultrasonic sensors can be controlled simultaneously.
  • the ultrasonic sensors of the first group and of the second group are preferably arranged alternately in order to enable the previously described maximum separability of the ultrasonic signals.
  • the ultrasonic sensors have two inner ultrasonic sensors and two outer ultrasonic sensors.
  • Each inner ultrasonic sensor is adjacent to another inner one
  • Ultrasonic sensor and arranged to an outer ultrasonic sensor. This means that the two outer ultrasonic sensors the inner
  • each inner ultrasonic sensor has two adjacent ultrasonic sensors, while each outer ultrasonic sensor has only one adjacent ultrasonic sensor.
  • each outer ultrasonic sensor is arranged adjacent to an inner ultrasonic sensor, while each inner ultrasonic sensor is adjacent to an inner ultrasonic sensor
  • Ultrasonic sensor and an outer ultrasonic sensor is arranged.
  • Control unit is preferably configured to simultaneously activate an inner ultrasonic sensor and an outer ultrasonic sensor, which are not adjacent to each other. This means that an outer ultrasonic sensor and the inner not adjacent to said outer ultrasonic sensor
  • Ultrasonic sensor form the first group of ultrasonic sensors, while the remaining ultrasonic sensors, d. H. the remaining outer ultrasonic sensor and the remaining inner ultrasonic sensor, the second group of
  • Ultrasonic sensors and the second group of ultrasonic sensors are arranged alternately.
  • the control unit is preferably also configured to control the outer ultrasonic sensors with a first frequency-modulated stimulation pattern and the inner ultrasonic sensors with a second frequency-modulated stimulation pattern.
  • the first frequency-modulated pickup pattern is different from the second frequency-modulated pickup pattern.
  • an outer ultrasonic sensor and an inner ultrasonic sensor not adjacent thereto are actuated in order to emit an ultrasonic pulse.
  • the active ultrasonic sensors, d. H. the active inner ultrasonic sensor and the active outer ultrasonic sensor are thus by a non-active
  • Ultrasonic sensor disconnected.
  • the active ultrasonic sensors by different stimulus patterns, the first stimulation pattern and the second
  • the stimulation patterns as described above, continuous frequency changes within a predefined Bandwidth up.
  • the stimulation patterns as described above, continuous frequency changes within a predefined Bandwidth up.
  • Different frequency changes of the first frequency-modulated stimulation pattern and the second frequency-modulated stimulation pattern wherein in particular the first frequency modulated stimulation pattern comprises a frequency pattern with a continuous increase in the frequency, while the second frequency-modulated
  • Stimulus pattern includes a pattern with continuously decreasing frequency.
  • the ultrasonic sensors have two adjacent first outer ultrasonic sensors, two inner ultrasonic sensors and two adjacent second outer ultrasonic sensors. It is provided that each inner ultrasonic sensor is arranged adjacent to a further inner ultrasonic sensor and either to a first outer ultrasonic sensor or to a second outer ultrasonic sensor. The first outer ultrasonic sensors are disposed adjacent to each other, and the second outer ultrasonic sensors are disposed adjacent to each other. This means that one of the first outer ultrasonic sensors is arranged exclusively adjacent to the other outer ultrasonic sensor. The other first outer
  • Ultrasonic sensor is thus arranged adjacent to an inner ultrasonic sensor and the aforementioned first outer ultrasonic sensor.
  • the second outer ultrasonic sensors is another second one
  • Ultrasonic sensor disposed both adjacent to an inner ultrasonic sensor and to another second outer ultrasonic sensor.
  • the other second outer ultrasonic sensor has besides the aforementioned second outer ultrasonic sensor
  • Ultrasonic sensor no further neighbors.
  • the controller is configured to simultaneously activate an inner ultrasonic sensor, a first outer ultrasonic sensor and a second outer ultrasonic sensor, which are not arranged adjacent to each other.
  • a first outer ultrasonic sensor, an inner ultrasonic sensor and a second outer ultrasonic sensor form the first group, while the remaining ultrasonic sensors form the second group.
  • all ultrasonic sensors of the first group and the second group are arranged alternately to one another.
  • Control unit preferably configured, the first outer ultrasonic sensors and the second outer ultrasonic sensors with a first frequency-modulated
  • Stimulus patterns are different from each other.
  • the first frequency-modulated stimulation pattern and the second frequency-modulated stimulation pattern have the differences described above. It is preferably provided that a maximum distance between the active ultrasonic sensors is present, in that there is always a non-active ultrasonic sensor between two active ultrasonic sensors. Furthermore, it is provided that the ultrasonic signals can be optimally separated, since adjacent active ultrasonic sensors have different characteristics
  • the first frequency-modulated pickup pattern has a change in frequency with a first bandwidth.
  • the first bandwidth is between 3 kHz and 12 kHz, preferably 5 kHz.
  • the change of the frequency is in particular linear.
  • the second frequency-modulated stimulation pattern has a change of a frequency with a second bandwidth.
  • the second bandwidth is advantageously between 3 kHz and 12 kHz, more preferably 5 kHz.
  • Frequency response of the second frequency modulated stimulation pattern which extends over the second bandwidth.
  • the first frequency response and the second frequency response thus ensure that the ultrasonic sensors never transmit an ultrasound signal, in particular an ultrasound pulse whose frequency intersects with another ultrasound pulse which was generated by means of another stimulus pattern.
  • Such filters are in particular matched filters, as described above.
  • Ultrasonic sensors usually have a low bandwidth of a maximum of 12 kHz, in particular of a maximum of 10 kHz.
  • Ultrasonic sensor device is thus reliably and reliably detectable, wherein such detection takes place within a limited period of time.
  • the first frequency curve advantageously comprises an increase in the frequency
  • the second frequency curve comprises a drop in the frequency or vice versa.
  • Ultrasonic sensors have two outer ultrasonic sensors and four adjacent inner ultrasonic sensors.
  • the outer ultrasonic sensors are arranged such that they surround the inner ultrasonic sensors, which are all adjacent to each other. This means that each outer ultrasonic sensor is advantageously arranged adjacent to at most one inner ultrasonic sensor.
  • the inner ultrasonic sensors are thus either arranged adjacent to two further inner ultrasonic sensors or alternatively to an outer one
  • the control unit is set up, two inner ultrasonic sensors each and one outer
  • Ultrasonic sensor all of which are not adjacent, to activate simultaneously. This means that a non-active ultrasonic sensor is present between two active ultrasonic sensors.
  • the control unit is also set up to control the outer ultrasonic sensors with a first frequency-modulated pickup pattern and in each case an inner ultrasonic sensor with a second frequency-modulated pickup pattern and a third frequency-modulated pickup pattern.
  • the two active inner ultrasonic sensors to different frequency modulated stimulation pattern, namely the second frequency modulated
  • the Stimulus pattern and the third frequency modulated stimulus pattern has a different stimulation pattern, namely the first frequency-modulated stimulation pattern.
  • Frequency modulated stimulation patterns are formed differently from each other. Thus, all signals that are emitted by the active ultrasonic sensors, different from each other and thus to separate easily and with little effort. In this way, a quick capture of an environment is the
  • Ultrasonic sensor device allows, with the use of completely different signals, a confusion of the ultrasonic pulses emitted by the individual ultrasonic sensors is prevented, thus the environment can be detected safely and reliably.
  • the first frequency-modulated stimulation pattern preferably comprises a change of a frequency with a first bandwidth.
  • the first bandwidth is
  • the change of the frequency is in particular linear.
  • Stimulus pattern involves changing a frequency with a second bandwidth.
  • the second bandwidth is between 3 kHz and 12 kHz, in particular 3 kHz. This change is advantageously carried out linearly.
  • the third frequency-modulated stimulation pattern comprises a change of a frequency with a third bandwidth, the third bandwidth having between 3 kHz and 12 kHz, preferably 3 kHz. This change in the frequency is advantageously linear. It is further provided that a first frequency response of the first frequency-modulated
  • Ultrasonic sensor device is emitted over the entire bandwidth of the frequency change a different frequency to each other Ultrasonic pulse emitted by the ultrasonic device on.
  • a separation of the emitted ultrasound pulses is simple and requires little effort.
  • an ultrasonic sensor has a maximum bandwidth of 12 kHz, in particular 10 kHz.
  • each stimulus pattern has a maximum bandwidth, but at the same time an overlapping of the stimulation pattern in their frequencies is completely avoided.
  • the above-described first frequency-modulated excitation pattern comprises a change of a frequency with a first bandwidth.
  • the first bandwidth is between 3 kHz and 12 kHz, preferably 5 kHz. Again, changing the frequency is preferably linear.
  • Frequency modulated stimulus pattern includes a change of a frequency with a second bandwidth.
  • the second bandwidth is between 3 kHz and 12 kHz, preferably 5 kHz. Again, there is a change in the frequency, advantageously linear.
  • the third frequency-modulated stimulation pattern comprises a change of a frequency with a third bandwidth, wherein the third bandwidth is between 3 kHz and 12 kHz, in particular 9 kHz. Again, the change in the frequency is advantageously linear.
  • a third frequency response of the third frequency-modulated excitation pattern extending across the third bandwidth, partially with a first frequency response of the first frequency-modulated excitation pattern extending over the first bandwidth, and / or with a second frequency response of the second frequency-modulated Stimulus pattern that extends over the second bandwidth is superimposed.
  • the first frequency curve differs from the second frequency curve, so that the first frequency curve does not coincide with the second frequency curve
  • the advantageous first bandwidth, second bandwidth and third bandwidth described above thus ensure that the maximum bandwidth through the second bandwidth and the third bandwidth is optimally utilized without the second frequency profile and the third frequency profile overlapping.
  • the first frequency response is opposite to the second frequency response and / or to the third frequency response.
  • the second frequency profile is in particular counter to the third frequency profile.
  • FIG. 1 shows a schematic view of an ultrasonic sensor device according to a first exemplary embodiment of the invention during the emission of ultrasound pulses at a first time
  • Figure 2 is a schematic view of the ultrasonic sensor device according to the first embodiment of the invention during the
  • Emitting ultrasonic pulses at a second time Emitting ultrasonic pulses at a second time
  • FIG. 3 shows a schematic view of an ultrasonic sensor device according to a second exemplary embodiment of the invention during the emission of ultrasound pulses at a first point in time
  • Figure 4 is a schematic view of the ultrasonic sensor device according to the second embodiment of the invention during the
  • Emitting ultrasonic pulses at a second time Emitting ultrasonic pulses at a second time
  • Figure 5 is a schematic view of an ultrasonic sensor device according to a third embodiment of the invention.
  • Figure 6 is a schematic view of picking patterns for driving the
  • Ultrasonic sensors of the ultrasonic sensor device according to one of the embodiments of the invention.
  • FIG. 1 shows schematically an ultrasonic sensor device 10 according to a first embodiment of the invention when emitting ultrasonic pulses at a first time.
  • FIG. 2 shows the same ultrasonic sensor device 10 in FIG.
  • Emitting ultrasound pulses at a second time Emitting ultrasound pulses at a second time.
  • the first time and the second time are consecutively.
  • the ultrasonic sensor device 1 comprises six ultrasonic sensors 1, 2, 3, 4, 5, 6 which are subdivided into two adjacent first inner ultrasonic sensors 1, 2, two adjacent second outer ultrasonic sensors 5, 6 and two inner ultrasonic sensors 3, 4. It is provided that each inner ultrasonic sensor 3, 4 adjacent to another inner ultrasonic sensor 3, 4 and adjacent to either a first outer ultrasonic sensor 1, 2 or to a second outer
  • Ultrasonic sensor 5, 6 is arranged.
  • the ultrasonic sensors 1, 2, 3, 4, 5, 6 are arranged next to one another. This is especially the case when the
  • Ultrasonic sensor device 10 is used in a bumper of a vehicle. In such an arrangement, all the ultrasonic sensors 1, 2, 3, 4, 5, 6 with the exception of the edge ultrasonic sensors 1, 6 each have two neighbors. The edge ultrasonic sensors 1, 6 have only one neighbor.
  • All ultrasonic sensors 1, 2, 3, 4, 5, 6 are connected to a control unit 7.
  • the control unit 7 is optionally used to activate the ultrasonic sensors 1, 2, 3, 4, 5, 6. If an ultrasonic sensor 1, 2, 3, 4, 5, 6 is activated, this will cause it to emit an ultrasonic pulse. If the ultrasonic sensor is not activated, this results in that the ultrasonic sensor 1, 2, 3, 4, 5, 6 can be used for receiving ultrasonic pulses. In this case, the ultrasonic sensor 1, 2, 3, 4, 5, 6 generates a signal when receiving an ultrasonic pulse, which can be detected by the control unit 7. Each ultrasonic sensor 1, 2, 3, 4, 5, 6 is thus depending on the control by the control unit 7, either a transmitter or a receiver for ultrasonic pulses.
  • Each ultrasonic sensor 1, 2, 3, 4, 5, 6 has a maximum bandwidth of
  • each ultrasonic sensor 1, 2, 3, 4, 5, 6 can be distinguished from each other, they are generated with different stimulus patterns 100, 200, 300.
  • These different stimulation patterns mean that each ultrasonic sensor 1, 2, 3, 4, 5, 6 is excited with a voltage that does not have a constant frequency, but rather a continuously changing frequency. This leads to the fact that the emitted ultrasonic pulses also do not have a constant frequency, but a frequency characteristic.
  • the frequency response is determined by the stimulus pattern 100, 200, 300.
  • received signals can be filtered out with corresponding frequency characteristics of the stimulation patterns 100, 200, 300.
  • the outer ultrasonic sensors 1, 2, 5, 6, that means the first outer
  • Ultrasonic sensors 1, 2 and the second outer ultrasonic sensors 5, 6 with the same frequency-modulated pickup pattern, namely the first
  • Ultrasonic sensors 3, 4 are controlled by a frequency-modulated second excitation pattern 200.
  • the control unit 7 in each case simultaneously activates a first outer ultrasonic sensor 1, 2, a second outer ultrasonic sensor 5, 6 and an inner ultrasonic sensor 3, 4.
  • the simultaneously active ultrasonic sensors 1, 2, 3, 4, 5, 6 are not adjacent to each other, except that there is a non-active ultrasonic sensor 1, 2, 3, 4, 5, 6 between the active ultrasonic sensors 1, 2, 3, 4, 5, 6. This is shown in FIGS. 1 and 2.
  • the respectively active ultrasonic sensors 1, 2, 3, 4, 5, 6 are represented by a filled circle, while the non-active ultrasonic sensors 1, 2, 3, 4, 5, 6 are represented by an unfilled circle.
  • the active ultrasonic sensors 1, 2, 3, 4, 5, 6 always have a maximum physical mechanical distance from one another.
  • adjacent active ultrasonic sensors 1, 2, 3, 4, 5, 6 different ultrasonic signals.
  • the control unit 7 is set up alternately either the first group of
  • the individual emitted ultrasonic pulses can be optimally separated from each other. If, after the emission shown in FIG. 1, one of the first outer ultrasonic sensors 1, 2 receives an ultrasonic pulse having the second stimulation pattern 200, this can be recognized by a corresponding matched filter.
  • the matched filter is set up to suppress all signals which do not have the first frequency characteristic of the first stimulation pattern 100, up to amplitude 0. Thus, only those signals are detected at the first outer ultrasonic sensors 1, 2, which actually from one of the first outer
  • Ultrasonic sensors 1, 2 were sent out. The same applies analogously to the second outer ultrasonic sensors 5, 6 and to the inner ultrasonic sensors 3, 4.
  • the first stimulation pattern 100 comprises a change of the frequency with a first bandwidth of 5 kHz.
  • the second stimulus pattern comprises changing the frequency with a second bandwidth of 5 kHz.
  • the corresponding frequencies are changed continuously, advantageously linearly. This change is particularly advantageous in the first stimulation pattern 100 and in the second stimulation pattern 200 in opposite directions. This means that in the first stimulation pattern 100, an increase of the frequency takes place, while in the second stimulation pattern 200, a reduction of the frequency takes place.
  • the first frequency profile, which results from the first stimulation pattern 100 completely differs from a second frequency profile, which results from the second stimulation pattern 200.
  • FIG. 3 shows an ultrasonic sensor device 10 according to a second embodiment of the invention.
  • FIG. 3 shows the transmission of ultrasonic pulses by means of the ultrasonic sensor device 10 to a first one
  • Ultrasonic sensor device 10 at a second time.
  • the second embodiment is identical to the first embodiment with the exception that the edge ultrasonic sensors, 1, 6 from the first
  • the ultrasonic sensors 2, 3, 4, 5 include only the inner ultrasonic sensors 3, 4 and a first outer
  • Ultrasonic sensor 2 and a second ultrasonic sensor 5. The driving of the
  • Ultrasonic sensors 2, 3, 4, 5 are analogous, as described above. Thus, in turn, it is achieved that a maximum separability of the emitted
  • the maximum bandwidth of the ultrasonic sensors 1, 2, 3, 4, 5, 6 is in the two embodiments described above, a maximum of 10 kHz, in particular a maximum of 12 kHz.
  • the ultrasonic pulses can be reliably and reliably detected and
  • FIG. 5 shows a third exemplary embodiment of the invention
  • Ultrasonic sensor device 10 In the third embodiment, in turn, six ultrasonic sensors 1, 2, 3, 4, 5, 6 are present. These ultrasonic sensors 1, 2, 3, 4, 5, 6 comprise four adjacently arranged inner ultrasonic sensors 2, 3, 4, 5, as well as two outer ultrasonic sensors 1, 6. The four inner ultrasonic sensors 2, 3,
  • the control unit 7 is used for the simultaneous activation of a first group of the ultrasonic sensors 1, 3, 5 or a second group of the ultrasonic sensors 2, 4, 6. By the control unit 7 is thus alternately the first group of
  • Ultrasonic sensors 1, 3, 5 and the second group of ultrasonic sensors 2, 4, 6 activated.
  • the respectively non-activated ultrasonic sensors 1, 2, 3, 4, 5, 6 serve exclusively as receivers.
  • the control device 7 is set up to control the inner ultrasonic sensors 2, 3, 4, 5 either with a first stimulation pattern 100 or with a second stimulation pattern 200.
  • the control unit 7 is set up, the outer
  • all the stimulus patterns 100, 200, 300 comprise a continuous, in particular linear, frequency change with a bandwidth of 3 kHz.
  • the frequency profiles generated by the stimulation patterns 100, 200, 300 do not overlap. This ensures that each ultrasound pulse has a frequency that is completely different from any other ultrasound pulse emitted by the ultrasound sensor device 10. In this way, all ultrasonic pulses can be safely and reliably separated.
  • the maximum bandwidth of the ultrasonic sensors of 12 kHz, in particular 10 kHz, is optimally utilized in each case. Thus, the ultrasound pulses have maximum Doppler robustness.
  • the first stimulation pattern 100 is for changing the frequency with a first bandwidth of
  • Frequency change with a second bandwidth of 3 kHz also takes place.
  • the frequency is changed within a third bandwidth of 9 kHz.
  • the Stimulus pattern 300 with the frequency response of the first stimulation pattern 100 and / or the frequency response of the second stimulation pattern 200 partially.
  • the third stimulation pattern 300 has a frequency characteristic comprising a high bandwidth of 9 kHz.
  • the bandwidth of the third frequency response of the third corresponds
  • Stimulus pattern 300 in particular a large part of the maximum bandwidth of the ultrasonic sensors 1, 2, 3, 4, 5, 6. This leads to a significantly improved
  • the inner ultrasonic sensors 2, 3, 4, 5 send out only those ultrasonic pulses whose
  • the changes in the frequency in the second stimulation pattern 200 are opposite to the change in the first stimulation pattern 100 and the third stimulation pattern 300. This leads to, that adjacent active ultrasonic sensors 1, 2, 3, 4, 5, 6 emit ultrasonic pulses which have an opposite frequency characteristic. This improves the separability of the emitted ultrasonic pulses.
  • FIG. 6 shows an advantageous course of the frequencies for the different ones
  • FIG. 6 shows exclusively the second alternative described above.
  • the frequency profiles of the stimulation pattern 100, 200, 300 are shown in a coordinate system with a frequency axis 8 and a time axis 9.
  • the frequency response of the first stimulation pattern 100 leads to an increase, in particular a linear increase of the frequency, by the value Af. of the
  • Frequency response of the second stimulation pattern 200 leads to a reduction of the frequency by the value Af.
  • the value Af for the first stimulus pattern 100 and the second stimulus pattern 200 corresponds to the respective first bandwidth and second bandwidth of the frequency variation.
  • the first bandwidth and the second bandwidth are identical in this case and are advantageously 5 kHz each.
  • the frequency response of the third excitation pattern 300 comprises a significantly higher third bandwidth, in particular the previously described 9 kHz bandwidth. It can be seen that the frequency response of the third excitation pattern 300 thus partially overlaps with the second frequency response of the second excitation pattern 200 and the first frequency response of the first excitation pattern 100. Such an overlap is accepted because at the same time a significantly increased third bandwidth for the frequency response of the third excitation pattern 300 is achieved. This leads to the above-described increased Doppler robustness, which leads to an improved temporal detection of obstacles in the vicinity of the ultrasonic sensor device 10.
  • Each stimulus pattern 100, 200, 300 is advantageously performed during a period T of 1.6 milliseconds.
  • Ultrasonic sensor device 10 are emitted, the same length of time.
  • the stimulus pattern 200 and the third stimulation pattern 300 extend symmetrically about a standard frequency fo of 48 kHz.
  • a standard frequency is advantageous for ultrasonic sensors 1, 2, 3, 4, 5, 6.

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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

La présente invention concerne un dispositif à capteurs à ultrasons (10) comprenant une pluralité de capteurs à ultrasons (1, 2, 3, 4, 5, 6) et un appareil de commande (7) servant à exciter les capteurs à ultrasons (1, 2, 3, 4, 5, 6), l'appareil de commande (7) étant conçu pour activer sélectivement soit un premier groupe de capteurs à ultrasons (1, 2, 3, 4, 5, 6) soit un second groupe de capteurs à ultrasons (1, 2, 3, 4, 5, 6) simultanément, de sorte que les capteurs à ultrasons activés (1, 2, 3, 4, 5, 6) émettent un signal ultrasonore, chaque capteur à ultrasons (1, 2, 3, 4, 5, 6) du premier groupe étant adjacent à au moins un capteur à ultrasons (1, 2, 3, 4, 5, 6) du second groupe et chaque capteur à ultrasons (1, 2, 3, 4, 5, 6) du second groupe étant adjacent à au moins un capteur à ultrasons (1, 2, 3, 4, 5, 6) du premier groupe, et l'appareil de commande (7) étant conçu pour exciter des capteurs à ultrasons actifs adjacents en utilisant différents schémas d'excitation à modulation de fréquence (100, 200, 300).
EP18700460.1A 2017-01-26 2018-01-04 Dispositif à capteurs à ultrasons Withdrawn EP3574342A1 (fr)

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DE102017201214.5A DE102017201214A1 (de) 2017-01-26 2017-01-26 Ultraschallsensorvorrichtung
PCT/EP2018/050182 WO2018137904A1 (fr) 2017-01-26 2018-01-04 Dispositif à capteurs à ultrasons

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EP3574342A1 true EP3574342A1 (fr) 2019-12-04

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EP (1) EP3574342A1 (fr)
JP (1) JP6795703B2 (fr)
CN (1) CN110235023B (fr)
DE (1) DE102017201214A1 (fr)
WO (1) WO2018137904A1 (fr)

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CN110235023B (zh) 2024-04-30
US20200049817A1 (en) 2020-02-13
JP2020505603A (ja) 2020-02-20
JP6795703B2 (ja) 2020-12-02
CN110235023A (zh) 2019-09-13
US11262452B2 (en) 2022-03-01
WO2018137904A1 (fr) 2018-08-02
DE102017201214A1 (de) 2018-07-26

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