WO2014023570A1 - Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant - Google Patents

Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant Download PDF

Info

Publication number
WO2014023570A1
WO2014023570A1 PCT/EP2013/065518 EP2013065518W WO2014023570A1 WO 2014023570 A1 WO2014023570 A1 WO 2014023570A1 EP 2013065518 W EP2013065518 W EP 2013065518W WO 2014023570 A1 WO2014023570 A1 WO 2014023570A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor device
frequency range
environment sensor
operating frequency
selecting
Prior art date
Application number
PCT/EP2013/065518
Other languages
German (de)
English (en)
Inventor
Florian Haug
Andre Gerlach
Christopher Brown
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP13742199.6A priority Critical patent/EP2883080A1/fr
Publication of WO2014023570A1 publication Critical patent/WO2014023570A1/fr

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
    • G01S15/107—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics using frequency agility of carrier wave
    • 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

Definitions

  • the invention relates to a method for selecting an operating frequency range of an environmental sensor device and a corresponding environmental sensor device.
  • DE 40 235 38 A1 describes a collision warning device, in particular for avoiding collisions with stationary obstacles in the vicinity of a
  • an evaluation of the transit times between the emission of an ultrasound signal and the reception of a reflected ultrasound signal is provided, wherein the ultrasound signal of the respectively same and the respective other ultrasound sensor is used.
  • FR 281 797 3 A1 describes a method for detecting the position of objects for assistance in parking a motor vehicle, the method being carried out using a network of ultrasonic sensors on the motor vehicle. Disclosure of the invention
  • the present invention provides a method for selecting a
  • Method steps detecting a frequency spectrum over a frequency range by means of a receiver device and providing operating data to the
  • the present invention provides an environment sensor device comprising: a
  • a receiver device adapted to detect a frequency spectrum over a frequency range; a memory device configured to provide operating data to the environment sensor device; and one
  • the gist of the invention is an adaptive adaptation of the frequency of the
  • Environment sensor device emitted sound pulse to the frequency spectrum of the ambient sound using broadband transmitter or receiver units or with the help of several narrow-band transmitter or receiver units different
  • the invention is intended to improve the environmental sensing of time-based active three-dimensional distance sensors with sound in an acoustic noise situation.
  • an adaptive system is provided in the form of an environment sensor device which first passive with a broadband receiver or with multiple narrow-band receiver units of different operating frequency receives the frequency spectrum of the ambient sound, the frequency range or the frequency band with the lowest ambient sound due to an appropriate strategy using the
  • external sound sources can not disturb the system, provided that the external sound sources do not occupy the entire frequency spectrum relevant to the surroundings sensor device.
  • These external noise sources can at
  • Driver assistance systems arise by rolling a motor vehicle tire on the road surface or transport robots by certain electrical components in buildings, such as a ballast of a fluorescent tube.
  • Frequency spectrum is detected as an amplitude spectrum. This allows a simple data processing in the environment sensing.
  • Working frequency range can be advantageously adapted to the characteristics of the transmitting device or the receiver device.
  • any selection is used as the predetermined criterion for selecting the operating frequency range of the environment sensor device. This advantageously avoids a superposition of two identical or two similar surroundings sensor devices when parking an animated parking lot or an overlay when two transport robots, each with an environment sensor device, meet at an intersection.
  • a comparison of a frequency spectrum of a sound-emitting interference source with the determined quantity of the possible operating frequency ranges is used by the computer device. This can advantageously the reliability of the predetermined criterion for selecting the operating frequency range of the surroundings sensor device.
  • Environment sensor device can be increased.
  • the environment sensor device can adapt to the situation of
  • Ambient sound can be adjusted using broadband transmitter and receiver device.
  • a hitherto used operating frequency range of the environmental sensor device is changed.
  • the environment sensor device can respond flexibly to external noise sources.
  • the method is carried out by an assistance system for a motor vehicle or for an industrial truck or for an autonomously driving motor vehicle, by an industrial truck or by a robot or a system for assisting visually impaired people.
  • Fig. 1 is a schematic representation of a frequency-time diagram for
  • FIG. 2 shows a schematic illustration of an environment sensor device according to a further embodiment of the invention.
  • FIG. 3 is a schematic representation of a flowchart of a method for selecting an operating frequency range of a
  • a frequency range FB includes four operating frequency ranges A, B, C, D.
  • the frequency-time diagram shown in Figure 1 represents a situation with two robots, which are equipped with the same environment sensor device for active, sound-based environment detection, and a plurality of temporally limited noise sources. This situation can, for example, when two meet with a
  • Environment sensor device 100 equipped transport robot at an intersection with sound-emitting technical equipment such as a transformer or Vorschaltgerat a fluorescent tube occur.
  • a possible time sequence with regard to the occupancy of the operating frequency ranges A, B, C, D within the frequency range FB is shown in the frequency-time diagram shown in FIG.
  • the operating frequency ranges A, B, C, D were shown as discrete frequency bands of a frequency range FB for simplicity.
  • a first sounding noise source SG1 transmits noise starting at time t0 and ending at time t1 within the two operating frequency ranges B and C.
  • a second sounding noise source SG2 emits noise starting within time t1 and ending at time t2 within the two operating frequency ranges C and D.
  • a first robot starts at the time tO with the passive measurement of the
  • a second robot will later begin the passive measurement in the area SB2.
  • the second robot additionally recognizes an occupancy of the frequency band A by the first robot and therefore decides for the working frequency range B within the range AB2.
  • the first robot decides, for example, based on a random algorithm selection strategy for the working frequency range B.
  • the second robot is indeed disturbed in the third active measurement in working frequency range D by the newly arising external interference source SG2, but recognizes this at the next passive measurement and decides for the freed now working frequency range A.
  • FIG. 2 shows a schematic representation of an environment sensor device according to a further embodiment of the invention.
  • An environment sensor device 100 comprises a memory device 10, a
  • Receiver device 20 a transmitter device 30 and a computer device 40.
  • the receiver device 20 is designed to detect a frequency spectrum over a frequency range FB and in the form of electrical signals to the
  • Computer device 40 to transmit The transmitter device 30 is designed, for example, to convert electrical signals of the computer device 40 into sound and send it out.
  • the memory device 10 is designed to store operating data for the
  • Environment sensor device 100 include, for example, data on the possible
  • the computer device 40 is designed to a lot of possible
  • the receiver device 20, the memory device 10 and the computer device 40 are embodied, for example, as network-connected computer units.
  • the computer device 40 and the memory device 10 are embodied, for example, as a processor unit or as another electronic data processing unit.
  • a display device 50 of the environment sensor device 100 is coupled, for example, to the computer device 40 and is for displaying the function of
  • the display device 50 can be used as a liquid crystal display or as a
  • Liquid crystal screen to be formed whose function is based on that
  • Liquid crystals affect the polarization direction of light when a certain level of electrical voltage is applied.
  • the receiver device 20 is designed, for example, as a microphone or as another sound transducer, which converts airborne sound as sound pressure oscillations into corresponding electrical voltage changes as a microphone signal.
  • the transmitter device 30 is designed, for example, as an electrodynamic loudspeaker with a central drive or as an electrostatic loudspeaker or as a ferroelectric loudspeaker or as an electromagnetic loudspeaker or as another loudspeaker.
  • the computer device 40 is designed, for example, as a microcontroller, also known as ⁇ / ⁇ , which, in addition to a processor, also combines units for peripheral functions on a chip.
  • the surroundings sensor device 100 can determine the distance of a reflection point P1 at an object O via a transit time of the sound pulse measured by the computer device 40.
  • the environment sensor device 100 the location of the
  • Reflection point P1 of the object O via a method based on a
  • Frequency shift or on a trilateration or on a phase shift are made, by means of several spatially distanced
  • Receiving devices 20 and / or a plurality of spatially distanced transmitter devices 30, the direction and the full spatial coordinates of the reflection point P1 are determined or by means of a phase shift of the signal between a plurality of spatially distant receivers 20, the direction and the full
  • the maximum transit time of a sound pulse in the scene is referred to as the burst transit time of the environmental sensor device 100 and determines the maximum range for an object detection of the environmental sensor device 100.
  • FIG. 3 shows a schematic representation of a flow chart of a method for selecting an operating frequency range of an environmental sensor device according to yet another embodiment of the invention.
  • detection S1 of a frequency spectrum over a frequency range FB takes place by means of a receiver device 20 and provision of operating data to the environment sensor device 100.
  • a determination S2 of a set of possible operating frequency ranges A, B, C, D takes place within the frequency range FB on the basis of the detected frequency spectrum and on the basis of the provided operating data by a computer device 40.
  • a selection S3 of the working frequency range A takes place; B; C; D of the environment sensor device 100 by the computer device 40 from the determined amount of the possible operating frequency ranges A, B, C, D based on a predetermined criterion.
  • Working frequency range of an environment sensor device can be repeated in any manner, such as iterative or recursive.

Landscapes

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

Abstract

L'invention concerne un procédé de sélection d'une gamme de fréquences de travail (A; B; C; D) d'un dispositif de capteur d'environnement (100), comportant les étapes consistant à : détecter (S1) un spectre de fréquences en balayant une gamme de fréquences (FB) au moyen d'un dispositif récepteur (20), et fournir des données de fonctionnement concernant le dispositif de capteur d'environnement (100); déterminer (S2), au moyen d'un dispositif d'ordinateur (40), un ensemble de gammes de fréquences de travail (A, B, C, D) possibles au sein de la gamme de fréquences (FB) en se basant sur le spectre de fréquences détecté et en se basant sur les données de fonctionnement fournies; et sélectionner (S3), au moyen du dispositif d'ordinateur (40), la gamme de fréquences de travail (A; B; C; D) du dispositif de capteur d'environnement (100) à partir l'ensemble des gammes de fréquences de travail (A, B, C, D) possibles tel qu'il a été déterminé en se basant sur un critère prédéfini.
PCT/EP2013/065518 2012-08-08 2013-07-23 Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant WO2014023570A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13742199.6A EP2883080A1 (fr) 2012-08-08 2013-07-23 Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012214047.6 2012-08-08
DE102012214047.6A DE102012214047B4 (de) 2012-08-08 2012-08-08 Verfahren zum Auswählen eines Arbeitsfrequenzbereiches einer Umfeldsensoreinrichtung und entsprechende Umfeldsensoreinrichtung

Publications (1)

Publication Number Publication Date
WO2014023570A1 true WO2014023570A1 (fr) 2014-02-13

Family

ID=48877228

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/065518 WO2014023570A1 (fr) 2012-08-08 2013-07-23 Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant

Country Status (3)

Country Link
EP (1) EP2883080A1 (fr)
DE (1) DE102012214047B4 (fr)
WO (1) WO2014023570A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10583841B2 (en) * 2017-03-31 2020-03-10 Panasonic Intellectual Property Management Co., Ltd. Driving support method, data processor using the same, and driving support system using the same

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018102437A1 (de) * 2018-02-05 2019-08-08 Valeo Schalter Und Sensoren Gmbh Objekterfassung mit Ultraschallsensoren bei zyklischen Luftdruckänderungen
DE102019133426A1 (de) * 2019-12-06 2021-06-10 Valeo Schalter Und Sensoren Gmbh Messen mit einem Ultraschallsensorsystem in einer Störumgebung

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4023538A1 (de) 1990-07-25 1992-01-30 Bosch Gmbh Robert Kollisionswarneinrichtung
DE4233257C1 (fr) * 1992-10-02 1993-06-24 Endress U. Hauser Gmbh U. Co, 7864 Maulburg, De
FR2817973A1 (fr) 2000-12-13 2002-06-14 Imra Europe Sa Methode de detection et de positionnement d'objets basee sur deux etapes de formation numerique de faisceaux d'un reseau phase de capteurs
US6563761B1 (en) * 2000-11-02 2003-05-13 Trw Inc. Apparatus and method of vehicle occupant sensing using multiple ultrasonic frequencies
EP1840595A2 (fr) * 2006-03-30 2007-10-03 Fujitsu Ten Limited Dispositif de radar sur véhicule et système de contrôle de dispositif de radar sur véhicule
DE102008041894A1 (de) * 2008-09-09 2010-03-11 Robert Bosch Gmbh Ultraschallsensor und Verfahren zum Betreiben eines Ultraschallsensors

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4328497A (en) 1980-08-11 1982-05-04 Westinghouse Electric Corp. Method and system for jamming analysis and transmission selection
JP2657020B2 (ja) * 1992-03-17 1997-09-24 富士通株式会社 Ｆｍ−ｃｗレーダ装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4023538A1 (de) 1990-07-25 1992-01-30 Bosch Gmbh Robert Kollisionswarneinrichtung
DE4233257C1 (fr) * 1992-10-02 1993-06-24 Endress U. Hauser Gmbh U. Co, 7864 Maulburg, De
US6563761B1 (en) * 2000-11-02 2003-05-13 Trw Inc. Apparatus and method of vehicle occupant sensing using multiple ultrasonic frequencies
FR2817973A1 (fr) 2000-12-13 2002-06-14 Imra Europe Sa Methode de detection et de positionnement d'objets basee sur deux etapes de formation numerique de faisceaux d'un reseau phase de capteurs
EP1840595A2 (fr) * 2006-03-30 2007-10-03 Fujitsu Ten Limited Dispositif de radar sur véhicule et système de contrôle de dispositif de radar sur véhicule
DE102008041894A1 (de) * 2008-09-09 2010-03-11 Robert Bosch Gmbh Ultraschallsensor und Verfahren zum Betreiben eines Ultraschallsensors

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
See also references of EP2883080A1
T. YATA; L. KLEEMAN; S. YUTA: "Fast Bearing Measurement with a Single Ultrasonic Transducer", INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1998, pages 1202 - 1213

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10583841B2 (en) * 2017-03-31 2020-03-10 Panasonic Intellectual Property Management Co., Ltd. Driving support method, data processor using the same, and driving support system using the same

Also Published As

Publication number Publication date
DE102012214047B4 (de) 2023-05-11
EP2883080A1 (fr) 2015-06-17
DE102012214047A1 (de) 2014-02-13

Similar Documents

Publication Publication Date Title
DE102010033207B4 (de) Verfahren und Vorrichtung zur Umfeldüberwachung für ein Fahrzeug
EP3226028A1 (fr) Procédé de fonctionnement d'un capteur ultrasonique d'un véhicule automobile consistant à déterminer l'humidité de l'air, système d'assistance au conducteur et véhicule automobile
DE102013008953B4 (de) Verfahren zum Betreiben einer Radareinrichtung eines Fahrzeugs, insbesondere eines Kraftwagens, sowie Radareinrichtung für ein Fahrzeug, insbesondere einen Kraftwagen
DE102007061235A1 (de) Verfahren zur Klassifizierung von Abstandsdaten und korrespondierende Abstandsmessvorrichtung
DE102008000571A1 (de) Adressierung von Sende- und Empfangseinheiten einer Ultraschallabstandsmesseinrichtung
EP2293102A1 (fr) Procédé et dispositif de détermination de la position d'un obstacle par rapport à un véhicule, notamment un véhicule automobile, destiné à l'utilisation dans un système d'assistance au conducteur du véhicule
EP2845028B1 (fr) Procédé pour faire fonctionner un capteur de distance servant à détecter un environnement
WO2014023570A1 (fr) Procédé de sélection d'une gamme de fréquences de travail d'un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant
EP2322952B1 (fr) Procédé de détection d'un objet, dispositif d'assistance au conducteur et véhicule doté d'un dispositif d'assistance au conducteur
EP2634596A1 (fr) Procédé d'enregistrement d'objets dans l'environnement d'un véhicule automobile
EP3602119B1 (fr) Procédé de détection d'un objet dans une zone environnante d'un véhicule à moteur avec classification de l'objet, dispositif de capteur ultrasonique et véhicule à moteur
DE102013015411A1 (de) Verfahren zum Betreiben eines Ultraschallsensors eines Kraftfahrzeugs beim Aussenden eines Sendesignals, Ultraschallsensorvorrichtung und Kraftfahrzeug
DE102010021053B3 (de) Verfahren zur Detektion von Störungen des Messbetriebs einer Ultraschall-Messanordnung eines Kraftfahrzeugs und Kraftfahrzeug
EP2101190A1 (fr) Attribution des adresses aux unités de transmission et réception d'un système à ultrasons
DE102013200458A1 (de) System zur Umfeldsensorik
WO2014095605A1 (fr) Procédé de détection d'une partie de signal parasite dans un signal de réception électrique d'un capteur à ultrasons, dispositif capteur à ultrasons et véhicule automobile
EP2804015B1 (fr) Procédé de détection d'objets par formation adaptative de faisceaux
EP2605039A1 (fr) Procédé de détection dýobjets dans lýenvironnement dýun véhicule
DE102018218386B4 (de) Objekterfassungsvorrichtung
WO2014026835A1 (fr) Procédé pour contrôler un dispositif capteur d'environnement, source de son de référence, et dispositif capteur d'environnement correspondant
DE102017125024A1 (de) Fahrzeugerfassung von externen objekten
WO2014023571A1 (fr) Procédé permettant de faire fonctionner un dispositif de capteur d'environnement, et dispositif de capteur d'environnement correspondant
DE102016101358A1 (de) Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Betreiben eines Ultraschallsensors mit unterschiedlichen Frequenzen, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102017113654B4 (de) Verfahren zum Betreiben zumindest einer Komponente eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102022107381A1 (de) Anpassen einer Erkennung von Objekten basierend auf dem Empfang von Ultraschallechosignalen mit Ultraschallsensoren eines Fahrzeugs

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13742199

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2013742199

Country of ref document: EP