WO2008003364A1 - Capteur à ultrasons, véhicule à moteur le comprenant et procédé pour le faire fonctionner - Google Patents

Capteur à ultrasons, véhicule à moteur le comprenant et procédé pour le faire fonctionner Download PDF

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Publication number
WO2008003364A1
WO2008003364A1 PCT/EP2007/004077 EP2007004077W WO2008003364A1 WO 2008003364 A1 WO2008003364 A1 WO 2008003364A1 EP 2007004077 W EP2007004077 W EP 2007004077W WO 2008003364 A1 WO2008003364 A1 WO 2008003364A1
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WO
WIPO (PCT)
Prior art keywords
sensor
membrane
membrane elements
signals
membrane element
Prior art date
Application number
PCT/EP2007/004077
Other languages
German (de)
English (en)
Inventor
Anton Lill
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Priority to EP07725000A priority Critical patent/EP2035858A1/fr
Publication of WO2008003364A1 publication Critical patent/WO2008003364A1/fr

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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
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—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
    • G01S15/06—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
    • 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
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K9/00—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers
    • G10K9/12—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated
    • G10K9/122—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated using piezoelectric driving means
    • G10K9/125—Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated using piezoelectric driving means with a plurality of active elements
    • 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
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • the invention relates to an ultrasonic sensor for distance measurement of objects, comprising a converter having a housing and / or a carrier, in which and / or on which a vibratable membrane element is arranged for emitting signals and for receiving the emitted signals reflected on an object is.
  • FIGS. 1 to 5 show explanations of the prior art.
  • Figure 1 is a schematic representation of a prior art ultrasonic sensor
  • FIG. 2 shows transit times of the signals emitted by the ultrasonic sensor according to FIG. 1
  • Figure 3 is a plan view of a bumper of a
  • Figures 4 and 5 triangulations for determining the distance a of an object to the vehicle.
  • a previously known ultrasonic sensor is identified by the reference numeral 10.
  • the ultrasonic sensor 10 comprises a transducer 12, with which electrical signals are converted into sound signals and sound signals into electrical signals.
  • the transducer 12 comprises a housing 14 in which a membrane element 16 with an active surface 17 and an electronics unit 18 are arranged.
  • the electronics unit 18 serves to control the membrane element 16 and to preprocess the signals received by the membrane element 16.
  • the transducer 12 or the membrane element 16 can be controlled via an evaluation unit 20, with which the received signals are evaluated.
  • the membrane element 16 may be formed according to the prior art as a cup-shaped aluminum part, on which the active surface 17 forming bottom a piezoelectric element is arranged. With appropriate energization of the piezoelectric element, the membrane element 16, or its active surface 17, vibrated and it sound signals are emitted. When on the membrane element 16, or its active surface 17, incident sound signals is the Membrane element 16, or its active surface 17, also vibrated, these vibrations from the piezoelectric element into electrical signals that are preprocessed by the electronic unit 18 and evaluated by the evaluation unit 20, are implemented.
  • the distance a of the sensor 10, or of its membrane element 16, to an object 22 can be determined with such an ultrasonic sensor 10 together with the associated evaluation unit 20.
  • the acoustic radiation is emitted by the membrane element 16 or its active surface 17 for a short time.
  • these signals strike the object 22 at a distance a.
  • FIG. 2 shows a schematic plan view of a bumper 24 of a vehicle, which provides a total of four transducers 12.1, 12.2, 12.3 and 12.4.
  • the direct distance a ⁇ ji or a d4 from the respective converter 12.2 or 12.4 to the object 22.1 or 22.4 can be determined via the transducers 12.1 to 12.4.
  • This measured distance corresponds, as is apparent from Figure 3, not the actual distance a x of the obstacle 22.1 to the vehicle. Only in the event that the object 22 lies on the main axis h of the radiation lobe of the respective transducer, the measured distance corresponds to the actual distance.
  • the prior art attempts by means of triangulation to calculate the actual distance ai between the vehicle or bumpers 24 and the object 22 from a plurality of measurements with a plurality of transducers.
  • the method of triangulation described above can not be used even if, for example, an object extending over a larger subsection of the detection area, such as a wall, is present.
  • the present invention is therefore based on the object to provide ultrasonic sensors, by means of which, even in the presence of multiple objects in the detection range of the converter, a clear AbstandsbeStimmung the objects to a vehicle is possible.
  • an ultrasonic sensor having the features of claim 1.
  • Such an ultrasonic sensor is characterized in that at least one further membrane element for receiving the signals emitted by the first membrane element and reflected at the object is provided in the housing or on the carrier. Due to the provision of at least two directly adjacent to each other, provided in the same housing or on the same carrier membrane elements, it can be achieved that of only a signal transmitted to a membrane element, which are reflected on the same object, impinge on the two membrane elements with a very small time offset, provided that the object is not arranged in the region of the central longitudinal axis or centrally between the two main axes of the two membrane elements. Consequently, with only one measuring cycle, two distance values identifiable as belonging together are obtained. From these two, only very slightly differing distance values, one can then obtain the position of the object by triangulation.
  • ⁇ t is very low at the very close arranged membrane elements.
  • the distance x between the main axes of the at least two membrane elements arranged in the housing or on the common carrier is less than 10 cm and in particular in the range of 0.5 cm and 5 cm, ie x ⁇ 10 cm and in particular 0.5 cm ⁇ x ⁇ 5 cm.
  • the distance x can also be selected such that d ⁇ x ⁇ 4 * d, where d is the diameter or width of the active area a membrane element in the direction of the main axis of the adjacent membrane element.
  • the value x can be in the range of 2 * d to 3 * d.
  • the membrane elements provided are at least substantially identical and / or are the same when providing more than two membrane elements, the distances between adjacent major axes.
  • the main axes of the emission lobes of the at least two membrane elements run parallel to one another. In this way, a unique local relationship of the two membrane elements to each other can be produced, which is required for determining the respective distance from the respective membrane element to the object.
  • two further membrane elements can be provided so that the ultrasonic sensor has a total of three membrane elements.
  • the total of three membrane elements can lie on a right-angled, equilateral and / or isosceles triangle.
  • a first straight line intersecting the major axis of the first membrane element and the major axis of the second membrane element may be perpendicular to a major axis of the first membrane element and the major axis be arranged of the third membrane element intersecting second straight line.
  • the membrane elements can be arranged vertically one above the other in an installed position and / or two membrane elements horizontally next to each other.
  • the direction in which the object is present can be determined in a vertical plane.
  • the direction in which the object is present can be determined in a horizontal plane.
  • the direction in three-dimensional space in which the object is present can be determined.
  • the at least two membrane elements can each be designed as separate, separate components, which are spatially spaced from each other.
  • a decoupling means for vibration decoupling may be present between the two membrane elements.
  • the membrane elements are formed as one-piece, consisting of the same material component, said component then has two adjacent cup-shaped membrane recesses.
  • the floors of the Membrane recesses then form the active surfaces.
  • the component accommodating one membrane element and / or the two membrane elements can have a rectangular or round outer contour in plan view.
  • the plan view is the view along a major axis.
  • the senor may provide an electronic unit, which is arranged in the housing and / or on the carrier.
  • This electronic unit controls the at least two membrane elements or processes the received signals in such a way that an evaluation unit connected downstream of the electronic unit can evaluate the signals.
  • the membrane elements may in particular be cup-shaped and comprise a piezoelectric element which sets the active surface in oscillation or which converts the oscillations of the active surface of the membrane element into electrical signals.
  • the at least one further membrane element exclusively receives signals and does not emit any signals.
  • the sensor according to the invention may comprise an evaluation unit for evaluating the received signals, wherein the evaluation unit during operation of the sensor from the transit time difference of the signals received from the at least two membrane elements, the distance from the respective membrane element to the object and from the distances the direction at least within one of the main axes determined in each case two membrane elements plane, in which the object is detected.
  • the direction of the object within a plane formed by the major axes of two membrane elements can thereby be determined.
  • the direction of the object in three-dimensional space can be determined in a corresponding manner.
  • the evaluation unit in the operation of the sensor determines the signals received with the at least two membrane elements. Due to the very low observed differences in transit time at the membrane elements of the delay difference is determined by the phase angle.
  • phase comparators or phase demodulators can be used. From the wavelength and the phase difference of the received signals, the transit time difference can then be determined with the required accuracy.
  • the object mentioned at the outset is also achieved by a vehicle, in particular by a motor vehicle having an ultrasonic sensor according to the invention, the evaluation unit determining the actual, shortest distance of the object to the vehicle during operation of the sensor from the transit time difference of the signals received by the at least two membrane elements ,
  • the above-mentioned object is also achieved by a method for operating an ultrasonic sensor according to the invention, wherein a signal is transmitted with the first membrane element and wherein this signal reflected from the object is received by the first and at least one further membrane element, wherein from the transit time difference of the distance received by the respective membrane element to the object is calculated for the signals received by the at least two membrane elements.
  • a method for operating an ultrasonic sensor according to the invention wherein a signal is transmitted with the first membrane element and wherein this signal reflected from the object is received by the first and at least one further membrane element, wherein from the transit time difference of the distance received by the respective membrane element to the object is calculated for the signals received by the at least two membrane elements.
  • the direction in which the object is detected can be determined at least within a plane formed by the major axes of the two membrane elements.
  • the transit time difference can be determined from the phase angle between the signals received by the at least two membrane elements.
  • the further membrane element can advantageously serve exclusively for receiving signals. This has the advantage that objects located very close to the sensor can be clearly detected.
  • Figure 6 is a schematic representation of an ultrasonic sensor according to the invention
  • Figure 7 shows the time course of the sound signals of the ultrasonic sensor according to Figure 6;
  • FIG. 8 shows different phase shifts on an ultrasonic sensor according to the invention.
  • FIG. 10 shows different embodiments of transducers of different ultrasonic sensors according to the invention.
  • Figure 11 is a plan view of another ultrasonic sensor according to the invention.
  • FIG. 6 shows an inventive ultrasonic sensor 30, which differs from the ultrasonic sensor 10 according to FIG. 1 in that two mutually adjacent membrane elements S1 and S2 are provided in the housing 14.
  • the main axes hi and h 2 of the two membrane elements Sl and S2 or their active surfaces 17 are arranged parallel to each other.
  • the central main emission axis h lies centrally between the two main emission axes hi and h 2 .
  • the distance x between the two main emission axes hi and h 2 is less than 5 cm and is advantageously in the range between 2 cm and 3 cm.
  • the distance x is greater than the diameter d of the active sensor surfaces 17 and less than twice d.
  • the two membrane elements Sl and S2 are advantageously arranged side by side or one above the other.
  • the membrane element S1 is operated so that it can send and then receive.
  • the membrane element S2 can advantageously receive only.
  • the membrane element S 1 emits a sound signal at the time t i.
  • this signal strikes the object 22 at the distance a, where it is reflected.
  • the reflected signal impinges on the membrane element S2 and shortly thereafter, at the time t 4 on the membrane element Sl.
  • the reflected signals strike the object 22 later than the distance a S2 from S2 to the object 22 due to the greater distance a S i from the object 22 to the membrane element S 1 than to the membrane element S 2. If the object 22 were located on the main axis h, then the signals reflected at the object 22 would strike the two membrane elements S1 and S2 at the same time.
  • the position of the object 22 can be determined by triangulation from these two distance values a S i and a S2 and the distance x between the main axes hi and h 2 .
  • the angle ⁇ between the central main axis h and the average distance a s between the distances a S i and a S2 can also be determined in the plane spanned by the two main axes h ⁇ and h 2 .
  • the phase difference of the two incoming signals is evaluated. This can be done with phase comparators or phase demodulators. From the wavelength and the phase difference of the received signals, the transit time difference can be determined. For this purpose, three examples are shown in Figure 8, in which the phase angle ⁇ are shown for different positions of the object 22. Depending on the direction and magnitude of the phase shift, it is possible to deduce the associated transit time, and thus the associated angle ⁇ .
  • FIG. 9 shows for example, the transit times at the two membrane elements Sl and S2 for three objects 22.1, 22.2 and 22.3. It becomes clear that for each object present in the field of view of the two membrane elements, there are always incoming signals in pairs, as long as the objects are not located on a circle around the sensor.
  • the described sensor 30 and the associated method are also suitable for spatially extended objects, such as walls. This is because the measurement is carried out with the two small-spaced membrane elements Sl and S2 in only one measuring cycle, which is based on only one reflection point on the object.
  • the minimum measurable distance to an object is very small. This is due to the fact that with the provision of two, in particular acoustically well decoupled membrane elements, with the one membrane element a signal can be sent and with the other membrane element, the signal can be received, as long as the first membrane element still swinging. The second membrane element can consequently detect reflected signals, while the first membrane element can not detect such signals due to its decay phase.
  • two ultrasonic sensors can be used, wherein one ultrasonic sensor has two membrane elements arranged next to one another and the other ultrasonic sensor has two membrane elements arranged one above the other.
  • FIG. 10 shows various embodiments of conceivable transducers according to the invention of ultrasonic sensors.
  • a common membrane component 32 is provided which forms the two membrane elements S 1 and S 2 and in particular can be made of aluminum.
  • the component 32 provides two pot-shaped membrane recesses 34 and 36 arranged next to one another.
  • a piezoelectric element 38 which can be set into oscillation by energization is arranged at the bottom of the respective membrane recess 34 and 36.
  • the membrane component 32 is located in a housing 40, wherein a decoupling material 42 is provided between the housing 40 and the membrane component 32.
  • the membrane component 32 has a round outer contour.
  • the piezoelectric elements 38 are electrically connected to the electronic unit 18, which is not shown in FIG.
  • the transducer according to FIG. 10b substantially corresponds to the transducer according to FIG. 10a, wherein the outer contour of the Membrane component is not round here, but is substantially rectangular.
  • the converter according to FIG. 10 c in which the two membrane elements S 1 and S 2 are accommodated, provides for each of the two membrane elements S 1 and S 2 its own cup-shaped component 44.
  • the two components 44 are surrounded in their respective radially outer region of decoupling material 42, - between the two components 44 is decoupling material 42nd
  • FIG. 11 shows another ultrasonic sensor 50 according to the invention which has a total of three membrane elements S1, S2 and S3.
  • the ultrasonic sensor 50 is integrated in a bumper 24.
  • a plane perpendicular to the main axis hx of the membrane element Sl plane is the line g lf the main axis h x and the main axis h 2 of the membrane element S2 intersects.
  • Perpendicular to this straight line g x runs a straight line g 2 / which lies in the same plane and the main axis hi and the main axis h 3 of the membrane element S3 intersects.
  • the two membrane elements Sl and S2 are horizontal next to each other and the two membrane elements Sl and S3 vertically above the other.
  • the three, in particular identical, membrane elements S1, S2 and S3 lie in the illustrated view on an isosceles, right-angled triangle.
  • the distance Xi between the main axis hi and the main axis h 2 corresponds to the distance X 2 of the main axis h x to the main axis h 3 .
  • the distances Xi and X 2 are in the range of 2 * d to 3 * d, where d is the diameter of the active surface 17 of the membrane elements Sl, S2, S3.
  • d is the width of the active surface in the direction of the main axis of the respectively adjacent membrane element.

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

Abstract

L'invention concerne un capteur à ultrasons destiné à mesurer la distance entre des objets, un véhicule à moteur comprenant ledit capteur à ultrasons ainsi qu'un procédé permettant de faire fonctionner le capteur à ultrasons de l'invention.
PCT/EP2007/004077 2006-07-04 2007-05-09 Capteur à ultrasons, véhicule à moteur le comprenant et procédé pour le faire fonctionner WO2008003364A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07725000A EP2035858A1 (fr) 2006-07-04 2007-05-09 Capteur a ultrasons, vehicule a moteur le comprenant et procede pour le faire fonctionner

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006032125.1 2006-07-04
DE102006032125A DE102006032125A1 (de) 2006-07-04 2006-07-04 Ultraschallsensor, Fahrzeug mit Ultraschallsensor und Verfahren zum Betreiben des Ultraschallsensors

Publications (1)

Publication Number Publication Date
WO2008003364A1 true WO2008003364A1 (fr) 2008-01-10

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Application Number Title Priority Date Filing Date
PCT/EP2007/004077 WO2008003364A1 (fr) 2006-07-04 2007-05-09 Capteur à ultrasons, véhicule à moteur le comprenant et procédé pour le faire fonctionner

Country Status (3)

Country Link
EP (1) EP2035858A1 (fr)
DE (1) DE102006032125A1 (fr)
WO (1) WO2008003364A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102008029808B4 (de) * 2008-06-24 2018-10-31 Volkswagen Ag Verfahren und Vorrichtung zur dreidimensionalen Positionsbestimmung eines Objektes
DE102013207823A1 (de) * 2013-04-29 2014-10-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Koordinaten eines Objekts
DE102017210481A1 (de) 2017-02-02 2018-08-02 Robert Bosch Gmbh Verfahren zum Kalibrieren von Ultraschallwandlern und Anordnung zum Durchführen des Verfahrens
DE102017108341B4 (de) * 2017-04-20 2018-11-22 Valeo Schalter Und Sensoren Gmbh Ultraschallsensorvorrichtung für ein Kraftfahrzeug mit einer Sendeeinrichtung und separaten Empfangseinrichtungen, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102017221021A1 (de) * 2017-11-24 2019-05-29 Zf Friedrichshafen Ag Echoortung mit richtungsabhängigem Resonator
DE102020205127A1 (de) 2020-04-23 2021-10-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Generieren einer Objektrepräsentation mittels empfangener Ultraschallsignale
EP3943981A1 (fr) * 2020-07-22 2022-01-26 Elmos Semiconductor SE Procédé et dispositif de détection des objets environnants au moyen d'un système de capteur à ultrasons ainsi que système de capteur à ultrasons

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US5920521A (en) * 1996-04-19 1999-07-06 Mayser Gmbh & Co. Ultrasound area surveillance system
EP1470967A1 (fr) * 2002-01-28 2004-10-27 Matsushita Electric Works, Ltd. Systeme d'alarme et de detection d'obstacles pour vehicule
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DE19842250A1 (de) * 1998-09-15 2000-03-16 Mannesmann Vdo Ag Verfahren zur Bestimmung des Abstandes zwischen einem Objekt und einer sich örtlich verändernden Einrichtung, insbesondere einem Kraftfahrzeug
JP2001289939A (ja) * 2000-02-02 2001-10-19 Mitsubishi Electric Corp 超音波送受信装置及び車両周辺障害物検出装置
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Publication number Priority date Publication date Assignee Title
US5654997A (en) * 1995-10-02 1997-08-05 General Electric Company Ultrasonic ranging system for radiation imager position control
US5920521A (en) * 1996-04-19 1999-07-06 Mayser Gmbh & Co. Ultrasound area surveillance system
EP1470967A1 (fr) * 2002-01-28 2004-10-27 Matsushita Electric Works, Ltd. Systeme d'alarme et de detection d'obstacles pour vehicule
US20050245824A1 (en) * 2004-04-20 2005-11-03 Acoustic Marketing Research, A Colorado Corporation, D/B/A Sonora Medical Systems, Inc. High-intensity focused-ultrasound hydrophone
WO2005116688A2 (fr) * 2004-05-28 2005-12-08 Valeo Schalter Und Sensoren Gmbh Procede, dispositif et module capteur pour mesurer la distance entre un vehicule et un obstacle

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Publication number Publication date
DE102006032125A1 (de) 2008-01-10
EP2035858A1 (fr) 2009-03-18

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