EP4022347A1 - Ultraschallsensorsystem, verfahren zum betreiben von ultraschallsensoren und kraftfahrzeug - Google Patents
Ultraschallsensorsystem, verfahren zum betreiben von ultraschallsensoren und kraftfahrzeugInfo
- Publication number
- EP4022347A1 EP4022347A1 EP20767967.1A EP20767967A EP4022347A1 EP 4022347 A1 EP4022347 A1 EP 4022347A1 EP 20767967 A EP20767967 A EP 20767967A EP 4022347 A1 EP4022347 A1 EP 4022347A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signals
- ultrasonic
- ultrasonic signals
- signal pulses
- elementary
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
- G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
- G01S13/284—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using coded pulses
-
- 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
- G01S15/003—Bistatic sonar systems; Multistatic 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
- G01S15/02—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
- G01S15/46—Indirect determination of position data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0234—Avoidance by code multiplex
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
- G01S7/5273—Extracting wanted echo signals using digital techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
- G01S7/5276—Extracting wanted echo signals using analogue techniques
-
- 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
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Definitions
- the invention relates to an ultrasonic sensor system for a motor vehicle, a method for operating ultrasonic sensors for a motor vehicle and a motor vehicle.
- the signal pulses of the plurality of signal pulses differ from one another in terms of their modulation.
- one of the states +1 and -1 can correspond to a frequency of 49 kHz and a second state can correspond to a frequency of 41 kHz.
- the states +1 and -1 can also be implemented by shifting the phase of a transmission signal within a predetermined number of oscillations. Provision can also be made to implement the states +1 and -1 by keying a transmission signal, i.e. shifts by 90 degrees or 180 degrees.
- the signal pulses of the plurality of signal pulses include Barker codes or Gold codes.
- the evaluation device is designed to evaluate the received ultrasonic signals by means of maximum likelihood sequence estimation in order to assign the received ultrasonic signals to the transmitted ultrasonic signals.
- the evaluation devices 51 to 5n analyze the ultrasonic signals received by the corresponding receiver device 41 to 4n of the ultrasonic sensors 21 to 2n in order to assign the ultrasonic signals to the respective ultrasonic sensors 21 to 2n.
- the evaluation device 51 to 5n of a respective ultrasonic sensor 21 to 2n can be designed to extract the ultrasonic signal that was transmitted by the corresponding transmitting device 31 to 3n of the ultrasonic sensor 21 to 2n.
- the evaluation device 51 to 5n comprises software and / or hardware components, such as CPUs (English: central processing unit), GPUs (English: graphics processing unit), microcontrollers, integrated circuits (English: integrated circuits), ASICs (English: application-specific integrated circuits), FPGAs (field programmable gate array) or the like. Furthermore, the evaluation device 51 to 5n can have volatile or non-volatile memory in order to receive ultrasonic signals, Store analysis results or data required for the analysis.
- Ultrasonic signals 71 to 7n are emitted at the same time.
- the ultrasonic signals 71 to 7n are generated in such a way that they differ from one another by the sequence of elementary signals.
- the elementary signals from which the ultrasonic signals 71 to 7n are made up include signal pauses and at least two different types of signal pulses.
- the signal pulses can differ from one another, for example, in terms of their modulation.
- Signal pulses can include positive chirps and negative chirps, for example.
- the signal pulses can also include Barker codes or Gold codes.
- FIG. 4 shows a schematic block diagram of a motor vehicle according to an embodiment of the invention.
- the motor vehicle F comprises an above-described ultrasonic sensor system 1 with a multiplicity of ultrasonic sensors 21 to 2n.
- the motor vehicle F can have eight to twelve ultrasonic sensors 21 to 2n, for example. However, the invention is not limited to such a number. Thus, fewer than eight or more than twelve ultrasonic sensors 21 to 2n can be arranged on the motor vehicle F.
- the motor vehicle F can further comprise an evaluation device for evaluating the ultrasonic signals, for example by means of trilateration.
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
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019212837.8A DE102019212837A1 (de) | 2019-08-27 | 2019-08-27 | Ultraschallsensorsystem, verfahren zum betreiben von ultraschallsensoren und kraftfahrzeug |
PCT/DE2020/200063 WO2021037316A1 (de) | 2019-08-27 | 2020-08-03 | Ultraschallsensorsystem, verfahren zum betreiben von ultraschallsensoren und kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4022347A1 true EP4022347A1 (de) | 2022-07-06 |
Family
ID=72422046
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20767967.1A Pending EP4022347A1 (de) | 2019-08-27 | 2020-08-03 | Ultraschallsensorsystem, verfahren zum betreiben von ultraschallsensoren und kraftfahrzeug |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220299616A1 (de) |
EP (1) | EP4022347A1 (de) |
JP (1) | JP7245385B2 (de) |
CN (1) | CN114286949A (de) |
DE (1) | DE102019212837A1 (de) |
WO (1) | WO2021037316A1 (de) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009031955B4 (de) * | 2009-06-08 | 2014-04-30 | Technische Universität Dresden | Verfahren und Vorrichtung zur Bestimmung der räumlichen Position einer zu ortenden Einheit |
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 |
JP6041901B2 (ja) * | 2012-12-21 | 2016-12-14 | 三菱電機株式会社 | 超音波送受信装置 |
DE102014110187A1 (de) * | 2014-07-18 | 2016-01-21 | Fraunhofer-Gesellschaft | Rauschrobuste Objektortung mit Ultraschall |
DE102016222810A1 (de) * | 2016-11-18 | 2018-05-24 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Ultraschallsystems |
-
2019
- 2019-08-27 DE DE102019212837.8A patent/DE102019212837A1/de active Pending
-
2020
- 2020-08-03 US US17/753,310 patent/US20220299616A1/en active Pending
- 2020-08-03 CN CN202080058724.5A patent/CN114286949A/zh active Pending
- 2020-08-03 WO PCT/DE2020/200063 patent/WO2021037316A1/de unknown
- 2020-08-03 EP EP20767967.1A patent/EP4022347A1/de active Pending
- 2020-08-03 JP JP2022505333A patent/JP7245385B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
DE102019212837A1 (de) | 2021-03-04 |
CN114286949A (zh) | 2022-04-05 |
US20220299616A1 (en) | 2022-09-22 |
JP2022542371A (ja) | 2022-10-03 |
JP7245385B2 (ja) | 2023-03-23 |
WO2021037316A1 (de) | 2021-03-04 |
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