GB2493277A - Determining the size and position of objects using ultrasound - Google Patents
Determining the size and position of objects using ultrasound Download PDFInfo
- Publication number
- GB2493277A GB2493277A GB1213102.5A GB201213102A GB2493277A GB 2493277 A GB2493277 A GB 2493277A GB 201213102 A GB201213102 A GB 201213102A GB 2493277 A GB2493277 A GB 2493277A
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- ultrasound
- transmitter
- ultrasound signal
- signal
- receiver
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 141
- 238000002592 echocardiography Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000005855 radiation Effects 0.000 claims abstract description 10
- 238000003491 array Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 6
- 230000009022 nonlinear effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000009021 linear effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/588—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- 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
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/62—Sense-of-movement determination
-
- 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
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
A method for determining the size and position of objects in the environment of a vehicle is disclosed. At least one directional ultrasound signal, comprising at least two different frequencies is generated by a transmitter. Echoes of the ultrasound signal are detected by a receiver. The environment of the vehicle is swept by swivelling the direction of radiation. The position and size of objects reflecting the ultrasound signal are determined from the received echoes. The receiver is disposed at a distance from the transmitter that is less than ten wavelengths of the received echo, or constitutes an identical component with the transmitter; and receives a direct echo at a frequency that corresponds to the difference of the two emitted frequencies. Additional receivers, receiving further echoes, positioned more than ten wavelengths of the ultrasound echo from the transmitter, may be present. Further signals may be radiated simultaneously in differing directions, each signal coded with differing frequencies and phases.
Description
Description Title
Method for, determining the size and the position of objects
Description
The invention relates to a method for determining the size and the position of objects in. the environment of a, vehicle, and to a device for executing the method.
Various driving assistance systems are used in vehicles in order to support, the driver in executing various, driving manoeuvres. These driving assistance systems include, for example, parking aids, which can autonomously identify parking spaces and guide the vehicle into the parking space. A further example is that of reversing aids, which check the travel path for obstacles during reverse travel.
Common to all of the systems mentioned is the requirement to acquire an image of the environment that Is as accurate as possible, by means of various sensors. tibually, ultrasound sensors are used for this purpose. In this case, a signal is emitted by an ultrasound transmitter, this ultrasound signal is reflected by an obstale and is registered again by a receiver on the vehicle. The distance between the vehicle and the reflector can be calculated from the time that has elapsed between the emitting and the receiving of the signal, and from the known Sound propagation velocity. However, it is not possible to obtain information about the extent of the obstacle in this manner.
A method and a device for environment sensing by means of ultrasound waves is known from DE l0 2Q04 050 794 Al. The device comprises an ultrasound transmitter, which is composed of a plurality of individual ultrasound generators, and of a plurality of receivers disposed at a distance from this ultrasound transmitter. The transmitter radiates ultrasound waves having two differing transmission frequencies, the frequendies being selected such that, on the one hand, a directional radiation is effected and, on the other hand, owing to non-linear propagation effects in the air environment, an ultrasound wave is produced having a frequency that corresponds exactly to the difference of the two radiated waves. The resultant u1traound wave having the lower frequency has a lesser directionality, but has a significantly greater range, owing to lesser damping.
If there is an obstacle present, the wave having the differential frequency is reflected, and is detected by the receivers disposed at a distance from the transmitter. In order that not only the space in front of the transmitter is searched for obstacles, the transmitter can be mounted in a swivellable manner or, alternatively, an altered direction of radiation can be achieved through phase-shifted operation of the individual ultrasound generators.
Disclosure of the invention
There is proposed a method for determining the size and the position of objects in the environment of a vehicle, wherein at least one directional ultrasound signal, comprising at least two differing frequencies, is generated by a transmitter, and echoes of the ultrasound signal are detected by a receiver, the environment of the vehicle being swept by swivelling the direction of radiation, and the position and size of the objects reflecting the ultrasound signals being determined from the received echoes of the ultrasound signal, the receiver being disposed at a distance from the transmitter that is less *than ten wavelengths of the received ultrasound echo, or constituting an identical component with the transmitter, and receiving a direct echo of the ultrasound signal at a frequency that corresponds to the difference of the two emitted frequencies. The stated wavelength relates to the shortest received wavelength for the case in which more than two frequencies are emitted by the transmitter, and therefore more than one differential frequency is produced.
If the distance between the transmitter and receiver is less than ten wavelengths, in the case of the usual measurement resolution of an ultrasound sensor, in the region of two wavelengths, and a reflector distance of more than 50 wavelengths, no distinction can be made in comparison with an arrangement in which the transmitter and receiver constitute an identical component.
The ultrasound signal is radiated at a comparatively high frequency, in the range from 100 to 300 kHz. As frequency increases, the directionality of the radiated ultrasound signal becomes greater. At the same time, the damping of the ultrasound signal in the air increases, and the propagation behaviour of the ultraound wave corresponds more and more to that of light. The result of this is that an ultrasound signal reflected at a reflector is reflected back, not in the direction of the transmitter but, following the law whereby the angle of incidence is equal to the emergence angle, is reflected in a different direction. Because of this reflection behaviour and the damping that increases exponentially withthe frequency, normal measurement of the propagation time of the signal at high frequencies can be achieved only with difficulty.
In the case of the method according to the invention, the signal comprises at least two differing frequencies. tn the case of high sound intensities, as can be achieved by the ultrasound transmitter, non-linear effects occur during the propagation in the air and during reflection at a reflector. These non-linear effects in the wave propagation result in cross modulation of the signal having the two frequencies. In this case, further frequency components of the signal are produced at frequencies that * correspond to the sum, and to the difference, of the two emitted frequencies. The signal component in the case of the sum frequency is disregarded in the descriptions that follow since, in the case of the sum frequency, the damping is so great that no significant proportion of this signal component can be detected at the receiver.
The proportion of the signal that is produced in the air in the case of the differential frequency behaves just as an ultrasound signal crigihally emitted at this frequency would behave and, accordingly, is reflected back by a reflector, partially back in the direction of the transmitter. A further component of the signal in the case of the differential frequency is produced inside the reflector. When being reflected, the emitted sound waves enter, as an evanescent wave (fractions of the wavelength) into the reflector. There, again, cross modulation of the signal occurs, in which both a sum signal and a differential signal are produced. The signal in the case of the sum frequency is again disregarded because of the high damping. The signal in the case of the differential frequency is radiated from the reflector predominantly perpendicularly in relation to the normal to the surface of the reflector. As a result, a greater proportion of the signal can reach the receiver that would be the case with light-type propagation, in which the angle of incidence is equal to the emergence angle.
If, for example, a signal having the two frequencies 200 and 240 kHz is emitted by the transmitter, the frequency of th differential signal is 40 kHz. A component of the differential signal at 40 kI-lz is already produced during the propagation in the air, the rest of the differential signal being produced inside the reflector.
In a further embodIment of the method according to the invention, at least one further echo of the ultrasound signal is received by at least one further receiver, which is disposed at a distance from the transmitter that is more than ten wavelengths of the ultrasound echo., at a frequendy that corresponds to the difference of the two emitted frequencies.
The data of the further receivers is correlated with the receiver that constitutes an identical component with the transmitter or that is disposed at a distance from the transmitter that is less than ten wavelengths of the ultrasound echo. More data is available for statistical analysis, such that either the precision of the measurement can be increased, or the measurement time can be reduced, with the precision remaining the same.
The direction in which the directional ultrasound signal is emitted is gradually altered in order, on the one hand, to enable not only objects located directly in front of the transmitter to be sensed but also, on the other hand, to enable the size of the objects to be determined. Through continuous or incremental alteration of the direction in which the signals are emitted, preferably the entire environment of the vehicle located in the field of view of the transmitter is swept with the directional ultrasound signal. When the environment of the vehicle has been fully scanned once with the ultrasound signal, the process can recommence from the start.
When the environment of the yehicle has been fully swept with the directional ultrasound signal, the distances and the contours of the reflecting objects are determined from the received echoes. Besides the distance of an object, therefore, its size is also known.
In a preferred embodiment of the method, at least twoS ultrasound signals are radiated simultaneously in differing directions, the at least two ultrasound signals being coded by means of differing frequencies and phases. The use of a plurality of ultrasound signals emitted in differing directions makes it possible to reduce the time required to completely sense the environment of the vehicle. To enable the received echoes of the ultrasound signals to be assigned to the respective direction of the originally emitted signal, the signals are radiated with differing frequencies and/or particular phases.
The ultrasound signals in this case can be emitted in a pulsed manner. In this case, an individual pulse or a particUlar pulse sequence is emitted for a particular set direction of the ultrasound signal, and the arrival of the echo is awaited before the next pulses are radiated, in an altered direction. This embodiment is preferred if the transmitter is realized so as to constitute an identical component with the receiver.
In a further preferred embodiment, the at least one ultrasound signal is emitted continuously, and the receivers continuously pick up incoming echoes of the ultrasound signal. Since the echoes arrive at the receiver at differing, unforeseeable times, depending on the propagation time of the signal, the direction in which the original signal was emitted cannot be inferred from the instant of arrival of an echo. For this reason, it is preferred that the frequency and/or the phase of the emitted ultrasound signals be altered continuously, to enable this assignment to be made. In this embodiment, the transmitter is not realized so as to constitute an identical component with the receiver, since otherwise simultaneous transmission and receiving of the ultrasound signal is rendered difficult.
In a further embodiment of the method, the environment of the vehicle is swept continuously with the directional ultrasound signals, and the speed of motion and the direction of motion of a sensed object are determined from the difference of two successive recordings.
Furthermore, a device is provided for determining the size and the poition of objects in the environment of a vehicle. The device comprises a transmitter for generating a directional ultrasound signal, and comprises a receiver, means for swivelling the directional ultrasound signal, and means for evaluating received echoes of the ultrasound signal, the one transmitter being set up to radiate simultaneously an ultrasound signal having at least two frequencies that differ from each other, the receiver being disposed at a distance from the site of the transmitter that is less than ten wavelengths of the ultrasound echo, or constituting an identical component with the transmitter, and being set up to pick up the direct echo of the ultrasound signal at a frequency that corresponds to the difference of the two radiated frequencies.
In one embodiment of the invention, the device additionally comprises at least one further receiver, which is disposed at a distance from the transmitter that is more than ten wavelengths of the ultrasound echo, the at least one further receiver being set up to pick up at last one further echo of the ultrasound signal at a frequency that corresponds to the difference of the two radiated frequencies.
In one embodiment of the invention, the swivelling of the direction of radiation of the ultrasound signal is effected mechanically. For this purpose, the transmitter is rotatably mounted on a carrier, and swivelled, for example by means of a motor.
In a further preferred embodiment of the invention, the * swivelling of the direction of radiation of the ultrasound signal is realized purely electronically. In this case, the transmitter comprises at least two individual ultrasound generators, which are mounted in immediate proximity to each other. The distance of the ultrasound generators is preferably less than the wavelength of the ultrasound signals. Particularly preferred is a distance that corresponds to half the wavelength of the ultrasound signal. The mean wavelength of the ultrasound signal is defined as the wavelength of the radiated ultrasound signal, since the ultrasound signal comprises a plurality * S of frequency components. Through application of phase-shifted signal components to the individual ultrasound generators, mutual interference of the individual emitted waves can be utilized to achieve the desired directionality. The direction in this case can be set by specifying the phase differences. This can be realized, for example, by means of a plurality of signal generators, whose phase position in relation to each other can be adjusted.
Further, it is preferred that the transmitter be set up to radiate simultaneously at least two directional ultrasound signals in differing directions, and that the receivers be set up to simultaneously pick up echoes from each ultrasound signal, the individual ultrasound signals being coded by means of differing frequencies and phases. On the one hand, this can be achieved through the disposition of differing ultrasound generators for each directional ultrasound signal, on the other hand this can be achieved by means of a plurality of ultrasound generators, in a manner similar to that for achieving the directionality.
The ultrasound generators jointly radiate all frequencies simultaneously, but with a phase position shifted relative to each other. * The transmitters of the device according to the invention are preferably set up to emit ultrasound waves having frequencies in the range from 100 to 300 kHz. This -10 -frequency range offers a good directionality of the radiated ultrasound wave with still acceptable damping.
The receivers are preferably set up to receive ultrasound waves in the frequency range from 20 to 100 kHz.
Particularly preferred is a frequency range from 40 to k}-lz. For the waves emitted by the transmitters, this results in a preferred differential frequency in precisely this range, from 40 to 50 kHz. The selected frequency range is distinguished by good propagation characteristics of the ultrasound wave.
In a further embodiment of the invention, the receivers are additionally set up to receive the original frequencies in the range from 100 to 300 kHz.
Depending on the embodiment of the invention that is realized, calculation of the position and the size of the reflecting objects requires that the received echoes be assigned to the correct, original ultrasound signal. If the differing ultrasound signals are coded by differing frequencies and/or phases, the elaborateness of the calculations necessary for the assignment can exceed the capacity of a simple controller or on-board computer. For this reason; it is preferred that, in addition to comprising controllers or an on-board computer, the means fOr evaluating the received ultrasound echoes also comprise digital signal processors and/or field-programmable gate
arrays. The digital signal processors or field-
programmable gate arrays can be adapted to the particular application, and can perform complex signal processing steps substantially more rapidly and more efficiently than -11 -could be performed by a conventional microprocessor-based computer alone.
Advantages of the invention The method according to the invention, together with the device according to the invention, enables the position and size of objects in the environment of a vehicle to be determined in a precise manner with, at the same time, a long range and a high speed. Ps a result, driving assistance systems of the vehicle are provided with more precise data, which, for example in the case of a parking system, allows the parking space to be measured with yet greater accuracy and consequently enables smaller parking spaces to be utilized.
The high accuracy of the system is made possible, on the one hand, by the use of ultrasound at high frequencies.
The higher frequencies improve considerably the directionality of the emitted signal. At the same time, the system has a long range, despite the fact that the damping of the ultrasound signals increases considerably at high frequencies. This is achieved in that the emitted ultrasound signal comprises at least two differing frequencies. Through utilization of non-linear effects in the propagation in air and during reflection at the reflector, an ultrasound signal is produced, throuh cross modulation, at the difference of the two emitted frequencies. This differential signal has a significantly reduced signal frequency, and undergoes only a small amount of damping.
-12 -Furthermore, the sensing of the environment of the vehicle is speeded up considerably by the use of two or more ultrasound signals, which are radiated in differing directions. The time required can already be halved by using two ultrasound signals simultaneously. The coding of the ultrasound signals by means of differing frequencies and phases enables the received echoes of the ultrasound signals to continue to be correctly assigned to the original signals.
Since, with the method according to the invention, the entire environment of the vehicle is scanned with the ultrasound signal, not only the distance, but also the size of the objects can be calculated from the received echoes of the ultrasound signals. Owing to the high speed of the method, the direction and speed of moving objects can also be determined, in that two successive recordings are compared with each other.
These measures improve considerably the quality of the data relating to the environment of the vehicle, and thereby improve the safety and precision of all driving assistance systems that depend upon an accurate image of the environment of the vehicle.
Brief description of the figures
The invention is described in greater detail in the following with reference to the figures, wherein: Figure 1 shows the front of a vehicle having the device according to the invention,
S
-13 -Figure 2 shows a transmitter mounted in a swivellable manner, Figure 3 shows an ultrasound transmitter, which is S composed of a plurality of individual transmitters, and Figure 4 shows an ultrasound transmitter, which is composed of a plurality of individual transmitters and which emits a plurality of signals simultaneously.
Embodiments of the invention Figure 1 shows the device 1 according to the invention, built into the front 2 of a vehicle. Located on the front 2 of the vehicle there is a transmitter 10 and a receiver 11. In the embodiment shown, the receiver 11 is accommodated in immediate proximity to the transmitter 10.
"Immediate proximity" means a distance of less than ten wavelengths of the ultrasound signals to be received.
Owing to the proximity of the two components 10, 11, they are accomrnod»=ted in a common housing 13.
In the embodiment represented in Figure 1, the device has two further receivers 12, which are disposed at a distance from this housing 13. "At a distance" in this context means a distance greater than ten wavelengths of the.
ultrasound signals to be received. It is possible to dispense with the additional receivers 12 if there is no requirement for highly precise measurement results, or if a large amount of observation time is available.
-14 -The transmitter 10 that is disposed together with the receiver 11 in the housing 13, and the two receivers 12, are connected to a controller 14. The transmitter 10 is realized such that it can directionally emit an ultrasound signal 16 comprising two frequencies. The direction of propagation can be set at the transmitter 10, and is available to the controller 14 during the subsequent signal evaluation.
During its propagation in the air, the ultrasound signal 18 is subject to non-linear effects, which result in across modulation. A part of the radiated power of the ultrasound signal is transformed into a signal component having a trequency that corresponds to the difference of the two radiated frequencies.
The signal 16 encounters the obstacle 4. There, the remaining compOnents of the originally emitted signal frequencies enter, as evanescent waves, into the reflector 4, and are again subject to nonTlinear effects that result in a cross modulation. During the cross modulation, a signal component is again produced at a frequency that corresponds to the difference of the two originally radiated frequencies. Unlike the originally radiated components at the high frequencies, the resultant signal components at the differential frequency are not subject to the limitation of a light-like propagation with the angle of incidence equal to the emergence angle, such that a part of the signal can be received as a direct echo 26 by the receiver 11, which is located in immediate proximity to the transmitter 10. if the direction of radiation of the signal 18 were known exactly, the position at which the ultrasound signal 18 has encountered the reflecting object -15 -could then be exactly determined from the propagation time of the signal 18 and of the direct echo 26. Owing to the propagation behaviour of the ultrasound signals in the air, however, it is not possible to achieve a directionality of any quality and, furthermore, using the propagation time of the signals to measure the distance is subject to a certain error. In order to increase the accuracy, it is preferred that at least one further echo 25 be detected by an additional receiver 12 and taken into account in the evaluation.
This measurement process is repeated for differing directions of radiation, such that the surroundings of the sensor are gradually scanned by means of the ultrasound signal 18. In the case of the ultrasound signal denoted by the reference 18', the reflecting object is only just encountered. The ultrasound signal denoted by the reference 18" misses the reflecting object 4, and the additional receivers 12 and the receiver 11 disposed in immediate proximity to the transmitter 20 do not receive any echo. In this way, the contour of the reflecting object 4 can be gradually scanned and consequently, in addition to its position relative to the vehicle, its size can also be determined.
In order that the calculations necessary for assignment can be performed, the controller 14 is preferably provided with digital signal processors and/or field-programmable gate
arrays. The digital signal processors or field-
programmable gate arrays can be adapted to the respective application, and can perform complex signal processing steps substantially more rapidly and more efficiently than -16 -could be performed by a conventional microprocessor-based computer alone.
Figure 2 shows a transmitter and receiver, wherein the means for swivelling are mechanical.
in the sketched embodiment, the transmitter 10 comprises an individual transmitter and receiver 16, which is mounted on a carrier 20. In this embodiment, the transmitter 10 and aD receiver 11 constitute an identical component. A directional ultrasound signal 18 is emitted by the individual transmitter and receiver 16. The individual transmitter and receiver 16 comprises means for swivelling 22, by means of which the carrier 20 can be swivelled, about the axis of rotation 23, in the directions denoted by the references 24.
Figure 3 shows a further embodiment of the transmitter and receiver, wherein the means for swivelling are realized electronically.
The transmitter 10 comprises a plurality of individual transmitters 16 and separate receivers 17, which are mcunted on a carrier 20. The individual transmitters 16 in this case are disposed at a distance in relation to each other that is less than the wavelength of the ultrasound signal to be transmitted. A distance corresponding to half the wavelength is preferred. Each individual transmitter 16 receives a signal of its own from the controller 14.
If, in this case, the signals do not have a phase difference in relation to each other, a directional ultrasound signal 18 is produced that is perpendicular. to the carrier 20. If a phase difference between the signals -17 -is set by the controller 14, the direction of radiation becomes altered because of interferences of the ultrasound signals emitted by the individual transmitters 16, and a swivelled ultrasound signal 19 is produced. The separate receivers 17 are mounted in immediate proximity to the individual transmitters 16 on the carrier 20.
In one embodiment, each individual transmitter 16 emits: both frequencies of the ultrasound signal simultaneously.
In a further embodiment of the invention, the individual transmitters 16 are divided into two groups, of which one group emits the first frequency and the other group emits the second frequency of the ultrasound signal 18.
In one embodiment of the invention, the individual transmitters 16 are realized as a two-dimensional array on the carier 20. Various arrangements are possible in this case, for example at the intersection points of a matrix of horizontal and vertical lines, or along concentric circles.
Figure 4 shows a transmitter, having receivers, which simultaneously emits a plurality of directional signals in differing directions.
In order to reduce the time required for complete scanning * of the environment of the vehicle, it is preferred that the transmitter 10 be set up to simultaneously radiate at least two directional ultrasound signals 18, 19, 19' in differing directions.
The transmitter 10 again comprises a plurality of * individual transmitters 16, which are jointly mounted on a carrier 20. The individual transmitters 16 are disposed at -18 a distance that is less than the wavelength of the ultrasound signal to be transmitted. A distance corresponding to half the wavelength is preferred. Each individual transmitter 16 receives a signal of its own from S the controller 14. In the embodiment represented, each of these signals comprises a total of six differing frequencies, of which two in each case have the sarne.phase position. Owing to the interference, three directional ultrasound signals 18, 19, 19' are produced from the ultrasound signals emitted by the iridividua1 transmitters 16.
The individual ultrasound signals in this case are coded by means of differing frequencies and phases, to enable the received ultrasound echoes to be assigned to the original ultrasound signals 18, 19, 19'. The individual receivers 17 and the possibly additional receivers are correspondingly set up to pick up echoes of the emitted ultrasound signals 18, 19, 19'. The individual receivers 17 are again mounted in immediate proximity to the individual transmitters on the carrier 20.
Claims (1)
- <claim-text>-19 -Claims 1. Method for determining the size and the position of objects (4) in the environment of a vehicle, at least one directional ultrasound signal (18), comprising at least two differing frequencies, being generated by a transmitter (10), and echoes (26) of the ultrasound signal (18) beingdetected by a receiver (11), the environment of the vehicle being swept by swivelling the direction of radiation, and the position and size of the objects (4) reflecting the ultrasound signal (18) being determined from the received echoes (26) of the ultrasound signal (18) , characterized in that the receiver (11) is disposed at a distance from the transmitter (10) that is less than ten wavelengths of the received ultrasound echo (26) , or constitutes an identical component with the transmitter, and receives a direct echo (26) of the ultrasound signal (18) at a frequency that corresponds to the difference of the two emitted frequencies.</claim-text> <claim-text>2. Method according to Claim 1, characterized in that at least one further echo (25) of the ultrasound signal (18) is received by at least one further receiver (12), which is disposed at a distance from the transmitter (10) that is more than ten wavelengths of the echo (25), at a frequency that corresponds to the difference of the two emitted frequencies.</claim-text> <claim-text>3. Method according to Claim 2, characterized in that at least two ultrasound signals (18, 19) are radiated simu1taneouly in differing directions, the at leastS-20 -two ultrasound signals being coded by means of differing frequencies and phases.</claim-text> <claim-text>4. Method according to Claim 2 or 3, characterized in that the ultrasound signal (18) is emitted in a pulsed manner.</claim-text> <claim-text>5. Method according to Claim 2 or 4, characterized in that the transmitter (10) and the receiver (11) are realized as two components and the at least one * ultrasound signal (18, 19) is emitted continuously, the receiver (11) that is disposed less than ten wavelengths from the transmitter (10) and the at least one further receiver (12) continuously picking up incoming echoes (25, 26) of the ultrasound signal (18, 19) 6. Method according to any one of Claims 1 to 5, characterized in that the environment of the vehicle is swept continuously with the directional ultrasound signals (18, 19), and the speed of motion and the direction of motion of a sensed object (4) are determined from the difference of two successive recordings.7. Device for determining the size and the position of objects (4) in the environment of a vehicle, comprising a transmitter (10) for generating a directional ultrasound signal (18, 19), and comprising a receiver (II), means for swivelling (22) the directional ultrasound signal (18-), and means for evaluating received echoes (26) of the ultrasound signal (18), the transmitter (10) being set up to radiate simultaneously an ultrasound signal (18) having at least two frequencies that differ from each other, characterized in that the receiver (11) is disposed at a distance from the site of the transmitter (10) that is less than ten wavelengths of the echo (26) , or constitutes an identical component with the transmitter, and is set up to pick up the direct echo (26) of the ultrasound signal (18) at a frequency that corresponds to the difference of the two radiated frequencies.8. Device according to Claim 7, characterized in that the device additionally comprises at least one further receiver (12), which is disposed at a distance from the transmitter (10) that is more than ten wavelengths of the echo (25) , the at least one further receiver (12) being set up to pick up at last one further echo (25) of the ultrasound signal (18) at a frequency that corresponds to the difference of the two radiated frequencies.9. Device according to Claim 7 or 8, characterized in that the means for swivelling (22) are mechanical means, comprising motors, or are electronic means, comprising a plurality of individual ultrasound generators (16) and a plurality of signal generators * that can be adjusted in their phase position in relation to each other.10. Device according to any one of Claims 7 to 9, characterized in that the transmitter (10) is set up to radiate simultaneously at least two directional ultrasound signals (18) in differing directions, and -22 -the receiver (11) that is disposed at a distance from the site of the transmitter (10) that is less than ten wavelengths of the echo (26) and the possibly at least one further receiver (12) are set up to pick up echoes (25, 26) from each ultrasound signal (18) , the individual ultrasound signals (18) being coded by means of differing frequencies and phases.11. Device according to any one of Claims 7 to 10, characterized in that the transmitter (10) is set up to transmit ultrasound waves having a frequency in the range from 100 to 300 kHz.12. Device according to any one of Claims 7 to 11, characterized in that the receivers (11, 12) are set up to receive ultrasound waves in the frequency range from 20 to 100 khz and/or 100 to 300 k!-lz.13. Device according to any one of Claims.7 to 12, characterized in that the means for evaluating the received ultrasound echoes (25, 26) comprise a controller (14), an on-board computer, digital signalprocessors and/or field-programmable gate arrays.14. A device substantially as herein described with reference to the accompanying drawings.15. A method for determining the size and the position of objects in the environment of a vehicle substantially as herein described.</claim-text>
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011079706A DE102011079706A1 (en) | 2011-07-25 | 2011-07-25 | Method for determining the size and position of objects |
Publications (2)
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|---|---|
| GB201213102D0 GB201213102D0 (en) | 2012-09-05 |
| GB2493277A true GB2493277A (en) | 2013-01-30 |
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|---|---|---|---|
| GB1213102.5A Withdrawn GB2493277A (en) | 2011-07-25 | 2012-07-23 | Determining the size and position of objects using ultrasound |
Country Status (4)
| Country | Link |
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| DE (1) | DE102011079706A1 (en) |
| FR (1) | FR2978561A1 (en) |
| GB (1) | GB2493277A (en) |
| IT (1) | ITMI20121265A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931972A (en) * | 2014-03-21 | 2015-09-23 | 福特全球技术公司 | Object Detection Using Ultrasonic Phase Arrays |
| CN105474039A (en) * | 2013-06-21 | 2016-04-06 | 罗伯特·博世有限公司 | Method for operating a surroundings-detection system of a vehicle |
| GB2534034A (en) * | 2015-01-09 | 2016-07-13 | Bosch Gmbh Robert | Ultrasonic measuring system, means of transportation and method for operating an ultrasonic transmitter-receiver device |
| WO2017012978A1 (en) * | 2015-07-17 | 2017-01-26 | Jaguar Land Rover Limited | Acoustic sensor for use in a vehicle |
| IT201700114745A1 (en) * | 2017-10-11 | 2019-04-11 | Simac Tech S R L | INDUSTRIAL EQUIPMENT WITH 3D DETECTION |
| RU2735852C1 (en) * | 2018-11-26 | 2020-11-09 | Бейджинг Сяоми Мобайл Софтвэр Ко., Лтд. | Audio signalling system control method and device |
| US20200413188A1 (en) * | 2016-12-05 | 2020-12-31 | Semiconductor Components Industries, Llc | Reducing or eliminating transducer reverberation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11733377B2 (en) | 2018-05-07 | 2023-08-22 | Texas Instruments Incorporated | Time of flight and code signature detection for coded ultrasonic transmission |
| US11644555B2 (en) | 2018-07-27 | 2023-05-09 | Texas Instruments Incorporated | Threshold generation for coded ultrasonic sensing |
| DE102021213905A1 (en) * | 2021-12-07 | 2023-06-07 | Robert Bosch Gesellschaft mit beschränkter Haftung | Direction-dependent adjustment of a detection range of ultrasonic sensor arrays |
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| CN105474039A (en) * | 2013-06-21 | 2016-04-06 | 罗伯特·博世有限公司 | Method for operating a surroundings-detection system of a vehicle |
| US10120073B2 (en) | 2013-06-21 | 2018-11-06 | Robert Bosch Gmbh | Method for operating a surroundings-detection system of a vehicle |
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| GB2534034B (en) * | 2015-01-09 | 2020-07-22 | Bosch Gmbh Robert | Ultrasonic measuring system, means of transportation and method for operating an ultrasonic transmitter-receiver device |
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| US20200413188A1 (en) * | 2016-12-05 | 2020-12-31 | Semiconductor Components Industries, Llc | Reducing or eliminating transducer reverberation |
| IT201700114745A1 (en) * | 2017-10-11 | 2019-04-11 | Simac Tech S R L | INDUSTRIAL EQUIPMENT WITH 3D DETECTION |
| RU2735852C1 (en) * | 2018-11-26 | 2020-11-09 | Бейджинг Сяоми Мобайл Софтвэр Ко., Лтд. | Audio signalling system control method and device |
| US11614540B2 (en) | 2018-11-26 | 2023-03-28 | Beijing Xiaomi Mobile Software Co., Ltd. | Method and apparatus for controlling sound box |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2978561A1 (en) | 2013-02-01 |
| ITMI20121265A1 (en) | 2013-01-26 |
| DE102011079706A1 (en) | 2013-01-31 |
| GB201213102D0 (en) | 2012-09-05 |
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