EP3586162A1 - Verfahren und vorrichtung zum bereitstellen von ultraschallsignalinformationen - Google Patents
Verfahren und vorrichtung zum bereitstellen von ultraschallsignalinformationenInfo
- Publication number
- EP3586162A1 EP3586162A1 EP18706725.1A EP18706725A EP3586162A1 EP 3586162 A1 EP3586162 A1 EP 3586162A1 EP 18706725 A EP18706725 A EP 18706725A EP 3586162 A1 EP3586162 A1 EP 3586162A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- echo
- echo signal
- echo signals
- significance
- signal
- 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- Withdrawn
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
- G01S15/108—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics using more than one pulse per sonar period
-
- 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
-
- 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
Definitions
- the present invention relates to a method and apparatus for providing ultrasound signal information.
- Ultrasonic sensors involved in a measurement to determine the position of an object by measured transit time differences of object echoes, which are detected by the ultrasonic sensors involved in the measurement.
- Ultrasonic sensors in particular, the case referred to as the second gains in importance.
- Ultrasound signal information comprises receiving a plurality of echo signals, determining a relationship of individual echo signals from the plurality of echo signals based on a transit time and / or a significance of the echo signals, grouping the echo signals for which a togetherness was determined in an echo signal group, and a Providing a characteristic characteristic of the echo signal group.
- Ultrasound signal information includes an ultrasound receiver configured to receive a plurality of echo signals, and an ultrasound receiver
- An echo signal is a time-limited signal section, which is associated with a previously transmitted ultrasonic signal.
- the echo signal is a signal received from an ultrasound receiver and emitted by an ultrasound transmitter.
- the ultrasonic transmitter and the ultrasonic receiver are either separate
- Components which are arranged in particular at different positions, or are in a single component, such as a
- Ultrasonic sensor summarized. This is how the ultrasound signal gets For example, emitted by a first ultrasonic sensor and a second ultrasonic sensor, the associated echo signal is received.
- the term is a time between a sending of the
- Significance is a value that describes a similarity between an echo signal and the associated ultrasound signal.
- the significance is in particular a value which is determined by means of an optimum filter or matching filter.
- the significance describes a signal similarity of the echo signal to the ultrasound signal or a signal similarity of the echo signal to an expected echo signal.
- the characteristic property can be any
- Echosignale a first criterion for the association of two temporally successive echo signals when a time difference between the maturities of the two temporally successive echo signals is less than a certain time value. In other words, this means that two individual echo signals are evaluated as belonging together if they are received within a predetermined time interval. In this way, the identity of individual echo signals can be determined in a simple manner. It can be reliably determined in particular by this first criterion, whether several echo signals were reflected at a common object. Togetherness is an indicator of whether individual echo signals have been reflected on a common object.
- the determined time value is a variable value, which in particular depends on a significance of the first received echo signal of the two temporally successive echo signals is selected.
- the time value is preferably chosen to be large if the significance of the first received
- Echo signal is large. Accordingly, it is advantageous if the determined time value is reduced if the significance of the first received
- the time value is set to a first value if the significance is above a predetermined threshold and is set to a second value if the significance is below a predetermined threshold, the first value being greater than the second value.
- the specific time value is a time interval.
- Echo signals has been determined. In this way, a temporal extent of an echo signal group is limited. The temporal extent of the
- Echo signal group is a time between receiving a first
- Echo signal of the echo signal group and a last signal of
- a second criterion for the correspondence of two temporally successive echo signals is when a significance of the echo signal first received is greater than or equal to a significance of the later received echo signal. It can be assumed that a significance decreases with the duration of an echo signal.
- Echo signal received with a high transit time this has a lower
- a historical evaluation of the received plurality of echo signals For example, a historical evaluation of the received plurality of echo signals. From a transit time of a single echo signal in past transmission and reception cycles, for example, an expected transit time of the individual echo signal can be determined in a current transmission and reception cycle. A runtime change of the individual
- Echo signal will correspond to the transit time change of all echo signals from the associated echo signal group. From a first transmission cycle it is thus determined to which echo signal group a plurality of echo signals received in a second transmission cycle are associated. Thus, in the second transmission cycle, only the remaining ones of the plurality of echo signals are one
- Assign group which does not already belong to the detected in the first transmission cycle echo signal group. It can thus be achieved a particularly accurate grouping of the echo signals to echo signal groups. Furthermore, it is advantageous if, based on the characteristic characteristic of the echo signal group, a classification of an object takes place at which the echo signals were reflected.
- the characteristic property is in particular a group property, which is composed of properties of the echo signal associated with the echo signal group.
- Advantageous characteristic properties are a temporal sequence of the individual
- Echo signals of the echo signal group and a course of a significance of the echo signals on the plurality of echo signals of the echo signal group.
- a property of the object can be deduced.
- Echosignalen is, where the significance of the first received
- Echo signal in particular depending on a number of in the Echosignalen grouped echo signals is adjusted. So will the
- the characteristic property is significant, it can simply be used as a residence probability in further processing.
- the characteristic property is further specified, whereby a particularly accurate evaluation can be carried out. It is also advantageous if the method further comprises emitting a plurality of ultrasound signals, and the significance of an echo signal is determined from a comparison of a transmitted ultrasound signal with the echo signal. This is done in particular by means of a
- Figure 2 shows an apparatus for providing
- Figure 3 is an illustration of an echo grouping according to the first
- Embodiment of the invention when receiving an exemplary first plurality of echo signals when receiving an exemplary first plurality of echo signals
- Figure 4 is a representation of the echo grouping according to the first
- Figure 5 is a graphic representation of a historical evaluation
- FIG. 1 shows a flowchart of a method for providing ultrasound signal information according to a first embodiment of the invention. The method is provided by a device 1 for providing
- the device 1 comprises an electronics 2 which is adapted to carry out the method for providing ultrasound signal information.
- the device 1 comprises a first ultrasonic sensor 3 and a second ultrasonic sensor 4.
- the first and the second ultrasonic sensor 3, 4 comprise an ultrasonic receiver and an ultrasonic transmitter.
- the ultrasound transmitter is created by exciting a diaphragm of the respective ultrasound sensor 3, 4 in a transmission phase to a vibration.
- the ultrasound receiver is created in that the membrane of the respective ultrasound sensor 3, 4 receives vibrations from an environment of the ultrasound sensor in a reception phase, and converts these into an electrical signal.
- the electrical signal is transmitted to the electronics 2.
- the second ultrasonic sensor 4 is identical in construction to the first ultrasonic sensor 3.
- a first method step S100 is executed.
- the ultrasonic signal 5 is emitted in the transmission phase of the first ultrasonic sensor 3.
- the ultrasonic signal can be any suitable ultrasonic signal.
- Ultrasound signal has a constant frequency or has a chirp shape. It is also possible for data to be modulated onto the ultrasound signal.
- the ultrasonic signal 5 propagates in different directions as soon as it has been emitted by the first ultrasonic sensor 3. If the ultrasound signal 5, which propagates as sound waves in the vicinity of the first ultrasound sensor 3, strikes an object 6, this is reflected by the object 6 and thereby also reflected back in the direction of the first ultrasound sensor 3. However, since the ultrasonic signal 5 in different
- echo signals 10 have a different origin point on the object 6, these individual echo signals 1 1, 12, 13, 14, 15 will not arrive at the same time on the first ultrasonic sensor 3. These will also differ in their signal shape and signal amplitude.
- a second step S101 is executed.
- the plurality of echo signals 10 are received. This is done by the second ultrasound sensor 4 when it is in the transmission phase.
- the second ultrasonic sensor 4 is thus the ultrasonic receiver.
- the echo signals 10 stimulate the membrane of the second ultrasonic sensor 4, which the
- Echo signals 10 converts into electrical signals.
- the further processing of the echo signals 10 is carried out by a processing of the associated electrical signals by the electronics 2.
- the signal characteristics of the echo signals 10 and the associated electrical signals are identical, the
- both the first ultrasonic sensor 3 and the second ultrasonic sensor 4 comprise an ultrasonic receiver and an ultrasonic transmitter, the transmission of the ultrasonic signal 5 and the reception of the plurality of
- Echo signals 10 performed by each of the two ultrasonic sensors 4.
- the ultrasound sensors 3, 4 can receive echo signals from self-emitted ultrasound signals and / or receive echo signals from ultrasound signals which were emitted by the respective other ultrasound sensor 3, 4.
- a third step S102 is executed. This is carried out by a signal processing in the electronics 2. In the third step S102, a determination of a togetherness of individual takes place
- the transit time 30 of each of the individual echo signals 1 1, 12, 13, 14, 15 is determined.
- the transit time is determined by calculating a difference between a time of transmission of the ultrasound signal 5 and a reception of the respective echo signal 1 1, 12, 13, 14, 15. This temporal
- each of the echo signals 1 1, 12, 13, 14, 15 passes through an optimum filter, also called a matched filter, which is placed on the waveform of the ultrasonic signal 5.
- An amplitude at the output of the optimum filter is regarded as the significance of the respective echo signal 1 1, 12, 13, 14, 15, which is the
- Optimal filter has just gone through.
- at least one amplitude of the respective echo signal 1 1, 12, 13, 14, 15 as well as its similarity in its signal form with respect to the emitted ultrasonic signal 5 flow into the significance.
- the transit time 30 and the significance of each of the individual echo signals 1 1, 12, 13, 14, 15 of the plurality of echo signals 10 are considered in order to conclude that individual echo signals from the plurality of echo signals 10 belong together. This is done based on given rules.
- the association of individual echo signals is determined based on a first and a second criterion.
- the association is determined only on one of the two criteria. This is done according to the
- the described first embodiment of the invention being dispensed with a test of the other criterion.
- it is the first criterion in determining the identity of individual echo signals, which is based on a
- the transit time difference 31 is a difference between the respective transit time 30 of the two temporally successive echo signals. It is checked whether the transit time difference 31 is less than the predetermined time value 32 by checking whether the transit time difference 31 is below a predetermined threshold value which describes the determined time value 32.
- both criteria must be met. In alternative embodiments, it is sufficient if one of the criteria is met to determine a togetherness.
- the grouping is performed in a fourth step S103 of the method, which is executed after the third step S102. In this case, at least one echo signal group 20, 21 is applied and this echo signal group are the echo signals 1 1, 12, 13, 14, 15 added, which were identified as belonging together. If different relationships for different echo signals 1 1, 12, 13, 14, 15 are determined, then several
- a fifth step S104 is executed.
- the characteristic property is the significance and the running time of the respective first in time
- the significance of the echo signal first received is adjusted in dependence on a number of the echo signals 1 1, 12, 13, 14, 15 grouped in the echo signal group 20, 21. This occurs, for example, in that a significance value of the further echo signals of the echo signal group corresponds to the significance of the first
- Echo signal of the echo signal group 20, 21 is added.
- FIGS. 3 and 4 show exemplary sequences of echo signals 10
- a timeline which represents the transit time 30 of the echo signals 10 is shown in each case in a topmost line.
- the transit time results from a beginning of the time beam and a point at which the respective echo signal 1 1, 12, 13, 14, 15 of the plurality of echo signals 10 is shown.
- the beginning of the time beam is thus the time at which the ultrasonic signal 5 was emitted.
- a reception of one of the echo signals 10 is represented by a circle on the timeline.
- the position of the circle is thus the respective term 30 of the associated echo signal 1 1 to 15 again.
- a size of the circle indicates the significance of the respective echo signal 1 1, 12, 13, 14, 15 again.
- FIG. It can be seen from the timeline in the top line of FIG. 3 that five echo signals 1 1, 12, 13, 14, 15 have been received.
- a first echo signal 1 1, a second echo signal 12, a third echo signal 13, a fourth echo signal 14 and a fifth echo signal 15 were received.
- the first to fifth echo signals 1 1, 12, 13, 14, 15 form the plurality of echo signals 10.
- the top line in FIG. 3 thus describes the signal properties of the plurality of echo signals 10 which were received in the second step S101.
- FIG. 3 shows in the second line from above the determination of the association of the individual echo signals 11, 12, 13, 14, 15 according to the first and the second criterion.
- a transit time difference 31 between the durations 30 of two temporally successive echo signals 10 is less than a certain time value 32.
- the first echo signal 1 1 and the second echo signal 12 are considered. It is checked whether the runtime difference 31, resulting from the durations 30 of these two
- Echo signals is less than the determined time value 32.
- the determined time value 32 is shown in FIG. 3 as a rectangle, which extends according to an expansion corresponding to the time value 32 along the one shown in FIG. 3
- Timeline extends.
- the transit time difference 31 between the first echo signal 11 and the second echo signal 12 is less than the specific time value 32. This is evident from the fact that the second echo signal is within the rectangle associated with the first echo signal 11.
- the first criterion is thus fulfilled.
- the second criterion is checked. That is, it is checked whether the significance of the first received echo signal, ie the first
- Echo signal 1 greater than or equal to the significance of the later received echo signal, ie the second echo signal 12 is.
- the first echo signal 31 is shown as a larger circle than the second echo signal 12.
- the significance of the first echo signal is greater than the significance of the later received second echo signal 12.
- the second criterion is met. Therefore, the first echo signal is considered to be associated with the second
- Echo signal 12 detected.
- the first echo signal 11 and the second echo signal 12 are grouped in a first echo signal group 20.
- the second echo signal 12 and the third echo signal 13 are considered. Since the transit time difference between the transit times of the second echo signal 12 and the third echo signal 13 is also less than the determined time value 32, the first criterion is met again. The significances of the second echo signal and the third echo signal are identical. Thus, the second criterion is met. The third echo signal 13 is thus added to the first echo signal group 20. In the same way, the third echo signal 13 and the fourth echo signal 14 are considered, which leads to the same result. Thus, the fourth echo signal 14 is also added to the first echo group 20.
- Echo signal 15 applied. It follows that the transit time difference 31 between the transit times 30 of the fourth echo signal 14 and the fifth
- Echo signal 15 is greater than the determined time value 32.
- the fifth echo signal 15 is therefore not added to the first echo signal group 20, since the first
- the echo signal groups 20, 21 are shown in a third line in FIG.
- the significance and the transit time of the respectively temporally first echo signal of an echo signal group 20 is provided as a characteristic property.
- the first echo signal group 20 is thus represented by the transit time and the significance of the first echo signal 11.
- the second echo signal group 21 is characterized by the transit time and the significance of the fifth
- Figure 4 shows another example of a sequence of received
- Echo signals 1 1 to 15 are received in the same time sequence and at the same time intervals, as shown in Figure 3. However, the significance of the fourth Echo signal 14 greater than the significances of the other echo signals, that is, the echo signals of the first to third echo signal 1 1 to 13 and the fifth
- Echo signal 15 As a result, in checking whether the second criterion is satisfied when considering the third echo signal 13 and the fourth echo signal 14, the second criterion is considered not to have been satisfied. This is because the significance of the fourth echo signal 14 is greater than the significance of the third echo signal 13. The fourth echo signal 14 is therefore not assigned to the first echo signal group 20. Instead, the second echo signal group 21 is already applied at this time and the fourth echo signal is added to the second echo signal group 21. If the fourth echo signal 14 and the fifth echo signal 15 are considered, a membership in the first criterion fails. So it will be another echo signal group, here a third echo signal group, here a third
- an echo signal group 20, 21, 22, which comprises only a single echo signal does not necessarily have to be regarded as an echo signal group, but can also be further processed as a single echo signal.
- the second echo signal group 21, which results from the situation shown in FIG. 3, or the third echo signal group, which results from the situation shown in FIG. 4 can also be regarded as a single echo signal. That means in the one shown in FIG.
- Echo signal group 20 are represented, and the fifth echo signal 15 is not grouped, but further processed as a single signal.
- Echo signals may have a certain significance course.
- Significance course can be closed to the object 6, at which the echo signal group 20, 21, 22 associated individual echo signals were reflected.
- an echo signal group 20, 21, 22 occurs due to the presence of a bush if a plurality of echo signals of low significance follows each other. Indicates one
- Echo signal group 20, 21, 22 only a few individual signals, but which have a high significance, so there is, for example, a flat surface, such as a wall before.
- a second embodiment of the invention substantially corresponds to the first embodiment of the invention.
- the determined time value is always reduced after a relationship between two temporally successive echo signals has been determined. This reduction of the specific time value 32 takes place in each case for successive echo signals 1 1, 12, 13, 14, 15 within an echo signal group 20, 21, 22. In other words, this means that the first criterion is gradually increased, that is more difficult to fulfill , The more echo signals of an echo signal group 20, 21, 22 are already associated.
- the determined time value 32 is a variable value which is selected as a function of a significance of the first received echo signal of two temporally successive echo signals.
- the determined time value 32 is determined, for example, by determining a significance of an echo signal 11, 12, 13, 14, 15 and, for example, by means of a plurality of threshold values, determining an associated specific time value 32.
- the greater the significance of the previously received echo signal the easier it will be to fulfill the first criterion for a subsequent echo signal.
- a third criterion is introduced in addition to the first and second criteria or alternatively to the first or second criterion.
- Ultrasonic sensor 3 thus at least seven measurements, which are shown in Figure 6 by a first to seventh timeline 40 to 46.
- Ultrasonic sensor 3, 4 enters an additional object in the vicinity of the first and second ultrasonic sensor 3, 4. There are therefore additional echo signals, namely the sixth to eighth echo signal 16, 17, 18, received.
- the sixth to eighth echo signals 16, 17, 18 have a lower transit time 31 than the first echo signal 1 1. Since it can be assumed that the object 6, which has reflected the first echo signal 1 1, constantly moves in the vicinity of the first ultrasonic sensor 3, and thus can be assumed that the duration 31 of the first echo signal 1 1 is continuous changed or remains constant, it can also be concluded that the suddenly occurring echo signals, so the sixth to eighth echo signal 16, 17, 18, not the first echo signal 1 1 are associated. In the example shown in FIG. 6, in particular in the fifth measurement 44, the first echo signal is thus not grouped with the sixth to eighth echo signals 16, 17, 18.
- the first echo signal 1 1 shown in FIG. 6 can also be an echo signal group, which is represented by the value of the first echo signal 11.
- Trilateration created by multi-echo processing There is a
- the echo signals 12, 12, 13, 14, 15 of a sensor are combined in echo signal groups 20, 21, 22, wherein the echo signals 12, 12, 13, 14, 15 of a
- Echo signal group 20, 21, 22 are assigned as possible to a single object 6.
- the echo signal groups 20, 21, 22 are reduced in a following step to the first echo signal and the number of grouped echo signals and their echo properties (for example significance, transit time differences) as additional
- the time segment describes the transit time difference of 32 consecutive echo signals 1 1, 12, 13, 14, 15.
- Echo signal group 20, 21, 22 assigned but only insofar as the
- Each grouped echo signal 1 1, 12, 13, 14, 15 triggers another one
- Period of time whereby the search window for the echo signal group 20, 21, 22 is extended accordingly.
- the time segments are preferably chosen the same.
- a shortening of the time periods with increasing number of sections or a variation of the time sections in Dependence of the significances of the echo signals 1 1, 12, 13, 14, 15 is possible (echo signals of greater significance span a larger window than an echo of smaller significance).
- Delay differences of echo signals 1 1, 12, 13, 14, 15 of an object 6 can not be arbitrarily large, the search window to a maximum
- Group time is limited, whereby the maximum group time can be dependent on distance.
- Typical values for the maximum group time are in the range 3 to 6ms.
- the echo significance can be a measure of the signal strength. In the simplest case, the significance is proportional to the echo amplitude of the
- Echo signals 1 1, 12, 13, 14, 15, with coded signals, the echo significance can also be coupled in addition to the phase information.
- a significance of a subsequent echo signal is equal to a significance of the first echo signal, and at the same time the significance is above a predetermined threshold value, ie is very high, then the grouping is to be stopped.
- a significance of the first echo signal of an echo signal group 20, 21, 22 after the grouping is changed as a function of the number of grouped echo signals 1 1, 12, 13, 14, 15.
- a further advantageous embodiment is given when the
- Grouping is combined by a combination with a historical consideration of the echo sequence, specifically by the fact that echo signals 1 1, 12, 13, 14, 15 are not grouped when they belong to a sequence of echo signals 1 1, 12, 13, 14, 15 fit, so with high probability come from a second object.
- a vehicle in reflection often consists of a prominent first-reflex with far fewer significant follow-up reflexes.
- a bush provides scattering and largely similarly significant
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)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017202964.1A DE102017202964A1 (de) | 2017-02-23 | 2017-02-23 | Verfahren und Vorrichtung zum Bereitstellen von Ultraschallsignalinformationen |
PCT/EP2018/054232 WO2018153892A1 (de) | 2017-02-23 | 2018-02-21 | Verfahren und vorrichtung zum bereitstellen von ultraschallsignalinformationen |
Publications (1)
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EP3586162A1 true EP3586162A1 (de) | 2020-01-01 |
Family
ID=61258234
Family Applications (1)
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EP18706725.1A Withdrawn EP3586162A1 (de) | 2017-02-23 | 2018-02-21 | Verfahren und vorrichtung zum bereitstellen von ultraschallsignalinformationen |
Country Status (6)
Country | Link |
---|---|
US (1) | US11307306B2 (de) |
EP (1) | EP3586162A1 (de) |
KR (1) | KR20190119102A (de) |
CN (1) | CN110325875B (de) |
DE (1) | DE102017202964A1 (de) |
WO (1) | WO2018153892A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102019205565A1 (de) | 2019-04-17 | 2020-10-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bewerten einer Objekthöhe mittels von einem an einem Fahrzeug angebrachten Ultraschallsensor empfangenen Ultraschallsignalen |
DE102020206001A1 (de) | 2020-05-13 | 2021-11-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zur Klassifizierung der Höhe eines über Ultraschall erkannten Objekts |
DE102020211891A1 (de) | 2020-09-23 | 2022-03-24 | Robert Bosch Gesellschaft mit beschränkter Haftung | Gruppierung von Echosignalen von Ultraschallsensoren |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3739597A1 (de) * | 1987-11-23 | 1989-06-01 | Rump Elektronik Tech | Apparat zur absicherung von fahrzeugen mittels ultraschall-sensoren |
GB9714735D0 (en) | 1997-07-15 | 1997-11-05 | Roke Manor Research | Acoustic location system |
DE102004057547B4 (de) * | 2004-11-30 | 2007-09-13 | Ehlers, Frank, Dr. | Verfahren und Einrichtung zur automatischen Klassifizierung der von Unterwasserschallquelle hervorgerufenen Echosignale |
WO2008086178A1 (en) * | 2007-01-04 | 2008-07-17 | Biosecurity Technologies, Inc. | Echolocation device |
DE102009027842A1 (de) * | 2009-07-20 | 2011-01-27 | Robert Bosch Gmbh | Ultraschall-Messvorrichtung und Verfahren zum Auswerten eines Ultraschallsignals |
DE102010033210A1 (de) | 2010-08-03 | 2012-02-09 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Ultraschallsensors eines Fahrerassistenzsystems in einem Kraftfahrzeug, Fahrerassistenzsystem und Kraftfahrzeug |
DE102010033213B4 (de) | 2010-08-03 | 2021-04-01 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Auswertung von Signalen eines Ultraschallsensors und Vorrichtung zur Umfelderfassung |
RU2444009C1 (ru) * | 2010-12-02 | 2012-02-27 | Государственное образовательное учреждение высшего профессионального образования "Московский энергетический институт (технический университет)" (ГОУВПО "МЭИ(ТУ)") | Способ ультразвукового контроля |
DE102013015402B4 (de) * | 2013-09-17 | 2020-02-20 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Sensorvorrichtung eines Kraftfahrzeugs, Sensor für ein Kraftfahrzeug, Sensorvorrichtung und Kraftfahrzeug |
JP2015152325A (ja) * | 2014-02-10 | 2015-08-24 | 国立大学法人神戸大学 | 超音波流速計測方法および超音波流速計測装置 |
JP6412399B2 (ja) | 2014-10-22 | 2018-10-24 | 株式会社デンソー | 物体検知装置 |
-
2017
- 2017-02-23 DE DE102017202964.1A patent/DE102017202964A1/de active Pending
-
2018
- 2018-02-21 KR KR1020197027198A patent/KR20190119102A/ko unknown
- 2018-02-21 WO PCT/EP2018/054232 patent/WO2018153892A1/de unknown
- 2018-02-21 EP EP18706725.1A patent/EP3586162A1/de not_active Withdrawn
- 2018-02-21 US US16/488,061 patent/US11307306B2/en active Active
- 2018-02-21 CN CN201880013617.3A patent/CN110325875B/zh active Active
Also Published As
Publication number | Publication date |
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DE102017202964A1 (de) | 2018-08-23 |
US20200025916A1 (en) | 2020-01-23 |
US11307306B2 (en) | 2022-04-19 |
KR20190119102A (ko) | 2019-10-21 |
WO2018153892A1 (de) | 2018-08-30 |
CN110325875B (zh) | 2023-10-03 |
CN110325875A (zh) | 2019-10-11 |
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