WO2014095605A1 - 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 - Google Patents

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 Download PDF

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Publication number
WO2014095605A1
WO2014095605A1 PCT/EP2013/076492 EP2013076492W WO2014095605A1 WO 2014095605 A1 WO2014095605 A1 WO 2014095605A1 EP 2013076492 W EP2013076492 W EP 2013076492W WO 2014095605 A1 WO2014095605 A1 WO 2014095605A1
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WO
WIPO (PCT)
Prior art keywords
signal
time interval
received signal
electrical
echoes
Prior art date
Application number
PCT/EP2013/076492
Other languages
German (de)
English (en)
Inventor
Michael Hallek
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 EP13815435.6A priority Critical patent/EP2936200A1/fr
Publication of WO2014095605A1 publication Critical patent/WO2014095605A1/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
    • G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

Definitions

  • the invention relates to a method for detecting a Störsignalanteils an electrical received signal, which by means of an ultrasonic sensor of a
  • Motor vehicle is provided in response to an ultrasonic received by the ultrasonic sensor signal. After sending out a
  • Ultrasonic transmission signal - at the beginning of a measurement cycle - a measurement time interval is defined within which target echoes are evaluated in the electrical received signal and thus target objects can be detected in the environment of the motor vehicle.
  • the invention also relates to an ultrasonic sensor device for
  • Ultrasonic sensor devices for motor vehicles are already state of the art. It is already known to attach a plurality of ultrasonic sensors to the front and the rear bumper of a motor vehicle. By means of the ultrasonic sensors distances to obstacles can be measured, which are located in the environment of the motor vehicle. Such a device is also referred to in the art as a "parking aid".
  • An ultrasonic sensor is known to emit ultrasonic waves and receives reflected ultrasonic waves, ie at least a portion of the emitted and reflected in the surrounding ultrasonic waves.
  • a membrane - typically made of aluminum - is used, which is excited by means of a piezoelectric element to a mechanical vibration.
  • the piezoelectric element Upon receiving the reflected ultrasonic waves, the piezoelectric element provides an electrical received signal (electrical voltage), which is then evaluated. If target echoes are detected in the received signal, then the distance to the obstacle can be determined from the transit time of the signal.
  • Ultrasonic sensors are used in a motor vehicle by means of an electronic
  • Controlled control unit determines the times at which the ultrasonic waves are to be sent. It is also typically the
  • Control unit that calculates the distance to the obstacle based on the received electrical signal.
  • this communication can be carried out via separate data lines, wherein each sensor is assigned its own data line, which connects this sensor to the control unit.
  • all the ultrasonic sensors may be coupled to the control unit via a common communication bus.
  • the LIN bus is used.
  • Topology is the data communication according to the master-slave principle. This means that the control unit is a master, while the ultrasonic sensors are slaves. Each communication is initiated by the master, while the slaves
  • a particular challenge with ultrasonic sensor devices is to detect interference signals in the received signal, which originate, for example, from an external source of interference.
  • the ultrasound sensors are extremely sensitive to other, extraneous ultrasound sources, which are very common in conventional road traffic, e.g. against compressed air brakes of a truck,
  • Kehrge syndromeschen a street sweeper, noise in a tunnel and the like.
  • a particular challenge is the distinction between a noise signal on the one hand and target echoes on the other hand, which of actual
  • Target objects or obstacles come.
  • the interest in the present case thus applies to the detection of a noise signal component in the received signal of an ultrasonic sensor, so that after detection of such a noise component, the received signal may optionally be subjected to filtering in order to be able to evaluate real target echoes of real obstacles in this received signal.
  • the first received destination echoes can be subjected to a check and plausibility check as to whether the runtime of these destination echoes is shorter than the physical bases allow. If this question is answered in the affirmative, an additional ultrasound source is most likely present in the environment of the motor vehicle.
  • Another very common method is the pure auditory cycle, which dispenses with one measurement cycle and one or more ultrasound sensors are merely switched to "receive" without an ultrasound transmit signal being transmitted through the sensors, so ultrasonic waves received in that auditory cycle can not
  • the results are derived from our own ultrasound sensors, which in turn indicates an external perturbation, but both methods have drawbacks: either one additional latency for the auditory cycle is required, which has a very negative effect on the reaction time of the entire system, or the system is unable to distinguish a strong external disturbance from the so-called multiple reflections of its own ultrasound signal, which in the surrounding area occurs several times between the target object and the own system is reflected and thereby received in a subsequent measurement cycle.
  • Receive signal for the detection of signal echoes is compared.
  • the procedure involves certain disadvantages:
  • the interference level measurement is carried out here in a time interval in which no reflection signal is expected any more. This means an additional extension of the duration of a single measurement cycle, which in turn causes an increase in the reaction time of the entire system.
  • Threshold function made. In the case of a superimposition between real target echoes and a noise signal component, this could mean that the real target object can no longer be detected due to the initiated increase in the threshold value. In other words, it is not taken into account that in the time interval in which the interference level is measured, it may also be possible to have target echoes originating from actual, real target objects.
  • This object is achieved by a method by a
  • Ultrasonic sensor device and solved by a motor vehicle with the features according to the respective independent claims.
  • Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.
  • a noise signal component in an electrical received signal of an ultrasonic sensor of a motor vehicle is detected.
  • the received electrical signal is detected by means of the ultrasonic sensor in response to a
  • Ultrasonic sensor or else by means of another ultrasonic sensor of the motor vehicle (cross measurement) are emitted - a measurement time interval or the so-called measurement window is defined within the target echo evaluated in the electrical received signal and thus target objects can be detected.
  • Measuring time interval is defined a detection time interval, and depending on an evaluation of the electrical received signal within the detection time interval, it is determined whether or not the received signal has a Störsignalanteil, for example, can come from an external ultrasonic source.
  • Ultrasonic source is included or not, such as air brakes of a truck, sweeping noise of a street sweeper and the like.
  • Noise signal component can be reliably detected in the received signal.
  • This detection preferably takes place "binary": Either the electrical received signal is classified in the current measuring cycle as having an interference signal component, or it is classified as a "clean" receiving signal, which has exclusively target echoes of real target objects. If an interference signal component is detected by an external interference source, the received signal can optionally be subjected to additional filtering in order to be able to distinguish the real target echoes of real target objects from the signal echoes of a source of interference.
  • a further advantage is that within the detection time interval-unlike in the prior art according to document EP 1 562 050 B1-target echoes originating from real target objects can also be detected. Namely, it is preferable to dispense with an adaptation of the threshold curve as a function of the detected interference signal component, so that by means of the Threshold curve even relatively weak target echoes of real, distant targets can be detected.
  • target echoes in the electrical received signal are evaluated within the measuring time interval. This means that within the
  • Measurement time interval is searched for target echoes that can come from real target objects.
  • the detection of the target echoes is preferably carried out by means of said
  • Threshold curve which represents a distance-dependent and therefore delay-dependent threshold value function.
  • the determination time interval is defined at the end of the measurement time interval. This means that the respective end times of the determination time interval on the one hand and the measurement time interval on the other hand coincide.
  • This embodiment makes use of the fact that, at the end of the measurement window, real target echoes from actual target objects typically have a comparatively low intensity, so that they are either no longer received or occur only sporadically. These target echoes can also be detected on the one hand; On the other hand, it can be determined based on the received signal within the determination time interval, whether a noise signal component is present or not.
  • the evaluation of the electrical received signal within the detection time interval comprises that signal echoes are detected within the detection time interval and, depending on the signal echoes, it is determined whether or not the echo is detected
  • Receive signal has the interference signal component or not.
  • a signal echo is detected when the height of the received signal exceeds the threshold curve.
  • the evaluation of the received electrical signal within the detection time interval comprises that the number of signal echoes in the electrical
  • Receive signal is determined within the detection time interval. Depending on the number of signal echoes within the determination time interval, it can then be determined whether the received signal has the interference signal component or not. Depending on the evaluation of the number of signal echoes, it is possible in particular to reliably detect interference signal components which originate from a pulsed external interference source. This may in particular be such that the interference signal component is then detected or the electrical reception signal is classified as "disturbed” if the number of signal echoes within the determination time interval is greater than a predetermined one
  • This limit value can be, for example, in a value range of 2 to 10 and, for example, 4. If a pulsed interference source is located in the surroundings of the motor vehicle, then this interference source typically emits several ultrasonic waves in succession, which can be detected very precisely on the basis of the number of signal echoes within the detection time interval.
  • the evaluation of the electrical received signal within the detection time interval may include determining a sum of durations of all the signal echoes in the received electrical signal within the detection time interval. Depending on the sum can then be determined whether the received signal has the Störsignalanteil or not. By determining the
  • the interference signal component is then detected or the electrical received signal is classified as "disturbed” if the sum of the time durations is greater than a predefined limit value
  • the method can basically be applied to ultrasound sensors having a wide variety of sensitivities or different configurations of the threshold curve. Because sensitive systems (low threshold curve) usually generate few echoes with very long echo durations, while insensitive systems (high threshold curve) subdivide the few echoes with a long echo duration into many echoes with a low echo duration. Of course, however, the embodiments mentioned can also be implemented individually.
  • the invention additionally relates to an ultrasonic sensor device for a motor vehicle, having an ultrasonic sensor for providing an electrical received signal as a function of a received ultrasonic signal, and having a control unit for evaluating the electrical received signal. After sending out a
  • Ultrasound transmit signal is set a measurement time interval.
  • the control unit is designed to evaluate target echoes in the electrical reception signal within the measurement time interval and also to define a determination time interval and in dependence on an evaluation of the electrical reception signal within the reception period
  • the control unit may be either an internal control unit of the ultrasonic sensor or a separate control unit.
  • a motor vehicle according to the invention in particular a passenger car, comprises an ultrasonic sensor device according to the invention.
  • Ultrasonic sensor device and for the motor vehicle according to the invention.
  • FIG. 1 is a schematic representation of a motor vehicle with a
  • Fig. 2 to 6 exemplary waveforms of a communication signal between a
  • FIGS. 7 and 8 show exemplary courses of an electrical received signal with associated communication signals.
  • the motor vehicle 1 is for example a passenger car.
  • the motor vehicle 1 comprises an ultrasonic sensor device 2, which has an electronic control unit 3 (control unit) and a plurality of ultrasonic sensors 4, which are arranged distributed on the motor vehicle 1.
  • a plurality of ultrasonic sensors 4 on the front bumper 5 and a plurality of ultrasonic sensors 4 on the rear bumper 6 can be arranged.
  • the number and arrangement of the ultrasonic sensors 4 are shown in FIG. 1 by way of example only.
  • Both the number and the arrangement of the ultrasonic sensors 4 may vary depending on the embodiment.
  • the control unit 3 communicates with the ultrasonic sensors 4.
  • the ultrasonic sensors 4 For this purpose or for the purpose of controlling the ultrasonic sensors 4 are two alternative
  • control unit 3 may each be coupled via a separate data line 7 with the respective ultrasonic sensor 4.
  • the ultrasonic sensors 4 and the control unit 3 can also be connected to a common communication bus 8, for example the LIN bus.
  • a communication signal K is shown as an example, as it is transmitted between the control unit 3 and the ultrasonic sensor 4 via the associated data line 7.
  • FIG. 2 shows a course of the communication signal K over the time t.
  • the communication signal K is an electrical voltage which is applied to the data line 7, namely with respect to a reference potential.
  • the communication between the control unit 3 and the ultrasonic sensor 4 is based on the master-slave principle, so that the control unit 3 outputs control signals to the ultrasonic sensor 4, while the ultrasonic sensor 4 may respond exclusively.
  • Communication signal K between two voltage values U1, U2 is varied, whereby voltage pulses (here negative pulses or voltage dips) are provided.
  • voltage pulses here negative pulses or voltage dips
  • the electrical voltage of a default value U1 is reduced to a lower voltage value U2, which can be done for example by short-circuiting against the reference potential. There are thus voltage pulses (voltage dips).
  • Each measuring cycle of the ultrasonic sensor 4 is initiated by means of the control unit 3.
  • the control unit 3 sends out a trigger pulse 8, which is received by the ultrasonic sensor 4.
  • a diaphragm of the ultrasonic sensor 4 is excited to mechanical vibration, and it is emitted an ultrasonic transmission signal.
  • the ultrasonic sensor 4 After receiving the trigger pulse 8, the ultrasonic sensor 4 is allowed to respond.
  • the answers also contain voltage pulses. The duration of this
  • Voltage pulses corresponds to the time duration for which an electrical reception signal, which is provided by means of a piezoelectric element of the ultrasonic sensor 4, is higher than a threshold curve.
  • This threshold curve is usually needed to hide ground reflections.
  • the trigger pulse 8 by the ultrasonic sensor 4 its membrane is excited to mechanical vibration. Because electrical voltage is applied to the piezoelectric element during this excitation, the duration of the excitation and the so-called decay time of the membrane become constant
  • This voltage pulse 9 thus means that the membrane of the ultrasonic sensor 4 swings.
  • the ultrasound sensor 4 transmits a message as to whether this ultrasound sensor 4 should emit ultrasound waves in the current measuring cycle or should receive it exclusively.
  • direct measurements are possible in which an ultrasonic sensor 4 emits ultrasonic waves and also receives the reflected waves;
  • indirect measurements are possible in which one ultrasonic sensor 4 emits and receives ultrasonic waves, while another ultrasonic sensor 4 can only receive. This information is coded by modulating the length of the trigger pulse 8. While in Fig. 2, a shorter trigger pulse 8 is shown, in which the ultrasonic sensor 4 emit ultrasonic waves and then to receive, which by the
  • Voltage pulse 9 is confirmed, a trigger pulse 8 is shown in Fig. 3 with a greater length at which the ultrasonic sensor 4 is to receive exclusively. In the case of the communication signal K according to FIG. 3, therefore, no voltage pulse 9 is transmitted because the diaphragm is not excited to emit a transmission signal.
  • a measuring time interval 10 or the so-called measurement window in which the ultrasonic sensor 4 is to receive ultrasonic reception signals and to transmit corresponding voltage pulses to the control unit 3 after detection of signal echoes.
  • the length of the voltage pulses is equal to the time duration for which the received electrical signal exceeds the threshold curve.
  • Measuring time interval 10 begins a new measurement cycle, which is illustrated in Figs. 2 and 3 with further trigger pulses 8.
  • FIGS. 4 to 6 Further exemplary courses of the communication signal K are shown in FIGS. 4 to 6. These examples relate to a direct measurement in which the ultrasonic sensor 4 both transmits and receives, which is illustrated by the voltage pulse 9.
  • FIGS. 4 to 6 While no signal echoes are present in FIGS. 2 and 3, a communication signal K is shown in FIGS. 4 to 6, in which additional voltage pulses 11 are present, which each symbolize a signal echo in the electrical received signal.
  • the communication signal K contains voltage pulses 1 1, which basically lie at the beginning of the measurement time interval 10.
  • These target echoes are typically due to real target objects or obstacles.
  • Fig. 5 voltage pulses 1 1 are shown, which are at the end of the measuring time interval 10. These target echoes thus come from a target object which is located at a greater distance from the motor vehicle 1.
  • Voltage pulses 1 1 shown Such a variety of signal echoes indicate an external source of interference. With such a large number of voltage pulses 11, a possible real target object can no longer be identified. Therefore, it should now be detected whether an interference signal component is present in the received signal or not If necessary, perform additional filtering and possibly also be able to distinguish existing target echoes from false echoes.
  • a determination time interval 12 whose length is shorter than that of the measurement time interval 10 is defined by the control unit 3 within the measurement time interval 10.
  • the determination time interval 12 is set at the end of the measurement time interval 10.
  • the length of the determination time interval 12 may, for example, be in a value range of 1 to 3 ms, for example 2 ms.
  • the control unit 3 detects the number of signal echoes within the detection time interval 12 and the
  • Total tech duration i. the sum of the durations of all signal echoes within the detection time interval 12. For this purpose, the number of voltage pulses 1 1 within the determination time interval 12 and the total duration of the voltage pulses 1 1 is determined.
  • the control unit 3 If it is detected by the control unit 3 that the number of signal echoes within the detection time interval 12 is greater than a predetermined limit value, e.g. 4, it is determined that it is a noise from an external source. In addition or as an alternative, it is also checked whether the total tech duration is greater than one
  • the two criteria can be implemented in such a way that it is sufficient for the detection of a noise signal component that only one of the two criteria is fulfilled.
  • Threshold curves are detected, both in sensitive systems as well as in less sensitive systems.
  • Fig. 7a a time course of an electrical received signal S with an associated threshold curve 13 is shown.
  • Fig. 7b shows the associated communication signal K.
  • the threshold curve 13 is set relatively high, so that a relatively low sensitivity of
  • Receive signal S the threshold curve 13, and it is the voltage pulse 9 is generated. Further voltage pulses 1 1 are generated when the height of the
  • Receive signal S (and more precisely the envelope after filtering the
  • Received signal S exceeds the threshold curve 13. As is apparent from FIGS. 7a and 7b, in a less sensitive ultrasonic sensor 4 more
  • Signal echoes 14 and thus a plurality of voltage pulses 1 1 present have a relatively small period of time.
  • an interference signal component is optionally detected by evaluating the number of signal echoes 14.
  • FIGS. 8a, 8b an example is shown in which the threshold curve 13 has lower threshold values, so that, with the same received signal S, fewer total signal echoes 14 are detected and thus less voltage pulses 11 are generated.
  • the duration of the voltage pulses 1 1 is significantly greater, so that the noise component by evaluating the
  • Total duration of the voltage pulses 1 1 can be detected.

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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)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé de détection d'une partie de signal parasite dans un signal de réception électrique (S) qui est fourni au moyen d'un capteur à ultrasons (4) d'un véhicule automobile (1) en fonction d'un signal de réception ultrasonique reçu par le capteur à ultrasons (4). Après émission d'un signal d'émission ultrasonique, un intervalle de temps de mesure (10) est défini au cours duquel des échos cibles (11, 14) dans le signal de réception électrique (S) sont évalués. Un intervalle de temps de détermination (12) est défini dans l'intervalle de temps de mesure (10) et en fonction d'une évaluation du signal de réception électrique (S) dans l'intervalle de temps de détermination (12), il est déterminé si le signal de réception (S) présente ou non la partie de signal parasite.
PCT/EP2013/076492 2012-12-19 2013-12-13 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 WO2014095605A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13815435.6A EP2936200A1 (fr) 2012-12-19 2013-12-13 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

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012025065.7 2012-12-19
DE102012025065.7A DE102012025065A1 (de) 2012-12-19 2012-12-19 Verfahren zur Detektion eines Störsignalanteils in einem elektrischen Empfangssignal eines Ultraschallsensors, Ultraschallsensorvorrichtung und Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2014095605A1 true WO2014095605A1 (fr) 2014-06-26

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EP (1) EP2936200A1 (fr)
DE (1) DE102012025065A1 (fr)
WO (1) WO2014095605A1 (fr)

Cited By (1)

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CN110275171A (zh) * 2018-03-15 2019-09-24 郑州宇通客车股份有限公司 一种车辆雷达探测控制方法及车辆

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JP6413620B2 (ja) * 2014-10-22 2018-10-31 株式会社Ｓｏｋｅｎ 物体検出装置
CN112534296A (zh) * 2018-08-14 2021-03-19 昕诺飞控股有限公司 微波传感器设备以及使用传感器设备的传感方法和照明系统

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EP1562050A1 (fr) * 2004-02-06 2005-08-10 Robert Bosch GmbH Procédé et dispositif pour adapter un seuil dans un disposif de détection
US20070103281A1 (en) * 2005-11-04 2007-05-10 Shih-Hsiung Li Parking sensor apparatus and method to keep air brakes from interfering with the parking sensor apparatus

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JP3801076B2 (ja) * 2002-03-15 2006-07-26 株式会社デンソー 障害物検知装置
DE102007043501A1 (de) * 2007-09-12 2009-03-19 Valeo Schalter Und Sensoren Gmbh Verfahren und Anordnung zur Auswertung von Ultraschallsignalen
DE102008044088A1 (de) * 2008-11-26 2010-05-27 Robert Bosch Gmbh Verfahren zur dynamischen Ermittlung des Rauschlevels

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Publication number Priority date Publication date Assignee Title
EP1562050A1 (fr) * 2004-02-06 2005-08-10 Robert Bosch GmbH Procédé et dispositif pour adapter un seuil dans un disposif de détection
US20070103281A1 (en) * 2005-11-04 2007-05-10 Shih-Hsiung Li Parking sensor apparatus and method to keep air brakes from interfering with the parking sensor apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110275171A (zh) * 2018-03-15 2019-09-24 郑州宇通客车股份有限公司 一种车辆雷达探测控制方法及车辆

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EP2936200A1 (fr) 2015-10-28

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