WO2017005688A1 - Procédé pour l'évaluation d'un signal de réception d'un capteur ultrasonore - Google Patents

Procédé pour l'évaluation d'un signal de réception d'un capteur ultrasonore Download PDF

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Publication number
WO2017005688A1
WO2017005688A1 PCT/EP2016/065698 EP2016065698W WO2017005688A1 WO 2017005688 A1 WO2017005688 A1 WO 2017005688A1 EP 2016065698 W EP2016065698 W EP 2016065698W WO 2017005688 A1 WO2017005688 A1 WO 2017005688A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
received signal
amplitude
correlation
motor vehicle
Prior art date
Application number
PCT/EP2016/065698
Other languages
German (de)
English (en)
Inventor
Michael Hallek
Thomas Jung
Prasad Haridas
Thomas Neumann
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
Publication of WO2017005688A1 publication Critical patent/WO2017005688A1/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
    • 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
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] 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
    • G01S15/02—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
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • 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
    • 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

Definitions

  • the present invention relates to a method for evaluating a received signal of an ultrasonic sensor of a motor vehicle, in which the ultrasonic sensor for emitting an ultrasonic signal is excited by a transmission signal, based on the reflected from an object in the vicinity of the motor vehicle ultrasonic signal, the received signal is determined, a correlation signal from a Correlation of the transmission signal is determined with the received signal and based on an amplitude of the received signal and an amplitude of the correlation signal, the received signal is evaluated.
  • the present invention relates to an ultrasonic sensor device for a motor vehicle.
  • the present invention relates to a driver assistance system with such an ultrasonic sensor device.
  • the present invention relates to a motor vehicle with such a driver assistance system.
  • the interest is directed in the present case in particular to ultrasonic sensors for
  • ultrasonic sensors are used, for example, to detect objects in an environment of the motor vehicle. Furthermore, the distance to an object can be determined with the ultrasonic sensors.
  • Ultrasonic sensors usually comprise a membrane, which is excited to emit an ultrasonic signal with a corresponding transducer to mechanical vibrations.
  • the transducer is excited by means of a corresponding transmission signal, for example an electrical voltage.
  • the ultrasound signal emitted by the ultrasound sensor is reflected by the object and strikes the membrane of the ultrasound sensor again.
  • the membrane is excited to mechanical vibrations.
  • Vibrations can be detected with the transducer and in the form of a
  • Receiving signal such as an electrical voltage can be provided.
  • the transit time between the transmission of the signal is the
  • Ultrasonic signal and the arrival of the reflected ultrasonic signal and from this the distance between the motor vehicle and the object are determined.
  • Ultrasonic sensors are used, for example, in driver assistance systems, such as
  • Parking assistance systems used. In today's parking aid systems more and more functionalities are used, which stand out from the classic parking operation. In addition to the cross-functional use of ultrasonic sensors, such as For example, for automatic braking, the classification of objects in the environment plays an increasingly important role. Above all, it is more crucial
  • the ultrasonic sensors are activated at low vehicle speeds and continuously perform measurements. This leads to an increased mutual influence of the systems.
  • DE 10 2010 033 384 A1 discloses a method for evaluating an echo signal for
  • Vehicle environment detection which preferably operates in the ultrasonic frequency range.
  • a measurement signal is emitted with a predefinable coding and received a resulting encoded echo signal with Nutzsignalanising and / or interference signals and evaluated.
  • the received echo signal is evaluated according to a correlation with the transmitted measuring signal.
  • a signal component of the received echo signal can be classified as relevant if the weighted amplitude and the weighted correlation of the signal components of the received echo signal each reach or exceed a predetermined predetermined threshold value.
  • Receiving signals of an ultrasonic sensor of a motor vehicle can be evaluated easier and more reliable.
  • This object is achieved by a method by a
  • Ultrasonic sensor device by a driver assistance system and by a
  • An inventive method is used to evaluate or rate a received signal of an ultrasonic sensor of a motor vehicle.
  • the ultrasonic sensor is excited to emit an ultrasonic signal with a transmission signal.
  • the object in the environment of the ultrasonic sensor is excited to emit an ultrasonic signal with a transmission signal.
  • Motor vehicle reflected ultrasonic signal determines the received signal. Furthermore, will determines a correlation signal from a correlation of the transmission signal with the reception signal. In addition, based on an amplitude of the received signal and an amplitude of the correlation signal, the received signal is evaluated. In addition, it is provided that a ratio of the amplitude of the received signal and the amplitude of the correlation signal is determined and the received signal is evaluated on the basis of the determined ratio.
  • the inventive method relates to an ultrasonic sensor for a motor vehicle.
  • the ultrasound sensor can be part of a driver assistance system, for example, with which objects in the surroundings of the motor vehicle can be detected.
  • an ultrasonic signal is transmitted with the ultrasonic sensor.
  • a membrane of the ultrasonic sensor with a corresponding transducer such as a piezoelectric element, are excited to mechanical vibrations.
  • the transducer element with a transmission signal, in particular a time-varying voltage can be applied.
  • the ultrasonic signal reflected by the object in the vicinity of the motor vehicle again strikes the membrane, whereby mechanical vibrations are generated.
  • Vibrations of the membrane can be detected with the transducer element and output in the form of the received signal, in particular a time-varying electrical voltage.
  • the transit time between the emission of the ultrasound signal and the reception of the reflected ultrasound signal and, therefrom, the distance between the motor vehicle and the object can then be determined on the basis of the transmission signal.
  • the received signal originates from a real object in the surroundings of the motor vehicle or is based on a fault or an interference signal.
  • the received signal describes a real echo of the ultrasonic signal or a so-called apparent echo or ghost echo.
  • the amplitude of the received signal is determined.
  • Received signal correlates and determines an amplitude of the correlation signal.
  • the correlation signal thus describes the similarity or the correspondence between the transmission signal, which characterizes the emitted ultrasonic signal, and the reception signal, which characterizes the received echo of the ultrasonic signal. If the correlation signal has a relatively high amplitude, it can be assumed that the received signal from the
  • Transmission signal comes. Based on the amplitude of the received signal can be estimated whether the received signal describes a real echo of the ultrasonic signal or whether it originates from an interfering signal. By evaluating the ratio of
  • the received signal can be easily and reliably evaluated.
  • the correlation signal is determined by means of a normalized correlation function.
  • the correlation signal is determined from a predetermined, normalized correlation of the transmission signal with the reception signal.
  • the correlation or the correlation function can be normalized such that at a
  • the amplitude of the correlation signal has a predetermined value.
  • This predetermined value may correspond to the amplitude of the transmission signal or the amplitude of the reception signal.
  • a predetermined value is given for the amplitude of the correlation signal with the case that the transmission signal completely coincides with the reception signal. In the real measurement, the received signal will not completely match the transmission signal. This is due to the air damping and / or the
  • the transmission signal and the reception signal have a relatively high similarity to each other. This results in a value for the amplitude of the correlation signal that is in the range of
  • the received signal is evaluated as a useful signal if the amplitude of the received signal and the amplitude of the correlation signal in
  • the received signal is evaluated as a useful signal.
  • the received signal can be evaluated in particular when the received signal describes the real echo of the ultrasonic signal. Thus, it can be determined in a simple and reliable manner whether the received signal describes a real echo or a false echo.
  • a distance between the motor vehicle and the object is determined based on the received signal, if the received signal is evaluated as a useful signal.
  • the determination of the amplitude of the received signal and the amplitude of the correlation signal can be carried out with an evaluation device of the
  • Ultrasonic sensor itself or an ultrasonic sensor device, which the ultrasonic sensor and the evaluation comprises.
  • the evaluation or evaluation of the received signal can be carried out with this evaluation device.
  • the evaluation device can be formed for example by a corresponding electronics, a signal processor, a microprocessor or the like.
  • the determination of the distance between the motor vehicle and the object is carried out with a control device or an electronic control device of the motor vehicle.
  • the evaluation device can then transmit the received signal together with information which describes whether the received signal is a useful signal or an interfering signal to the control device. If that
  • Received signal is evaluated as a useful signal, the received signal from the
  • the received signal is evaluated as an interference signal if the amplitude of the correlation signal is smaller than the amplitude of the received signal. If the amplitude of the received signal is significantly larger than the amplitude of the
  • Correlation signal it can be assumed that the received signal is an interference signal or noise components comprises.
  • These interference signals can originate, for example, from the signals from other ultrasonic sensors.
  • interference signals for example, from compressed air sources, for example
  • the interference signal components can originate, for example, from monitoring systems for parking space recognition or for counting vehicles in road traffic, which are arranged, for example, in or at traffic lights. If the received signal is based on an interfering signal, it has a low agreement with the transmitting signal, resulting in a small amplitude of the correlation signal. Based on the comparison of the amplitude of the correlation signal and the
  • the received signal is filtered, if the
  • Received signal is evaluated as an interference signal.
  • the evaluation of the received signal can take place with an evaluation device of the ultrasound sensor or of the ultrasound sensor device itself.
  • the received signal can be transmitted to the control device together with the information that the received signal is an interference signal.
  • the received signal can then be correspondingly filtered in order to filter out the interference signal components from the received signal.
  • that can Receive signal are filtered only if it has been judged that this interference signal comprises shares. It can also be provided that the control device evaluates the received signal accordingly in order to classify the interference signal components.
  • the transmission signal is output with a predetermined coding. If, for example, a plurality of ultrasonic sensors is arranged on the motor vehicle, each of the ultrasonic sensors can be equipped with a
  • the transmission signal can be provided in the manner of a bit sequence. Thus, it can additionally be checked whether receive signals are based on the transmitted transmission signal.
  • An inventive ultrasonic sensor device for a motor vehicle is for
  • Ultrasonic sensor device may comprise the ultrasonic sensor and the evaluation device. These can be arranged in a common housing as an example.
  • An inventive driver assistance system for a motor vehicle comprises an ultrasonic sensor device according to the invention.
  • the driver assistance system may include, for example, a control device, which is formed by an electronic control unit (ECU - Electronic Control Unit) of the motor vehicle.
  • the control device can be connected to the ultrasonic sensor device for data transmission.
  • the driver assistance system has a plurality of
  • Ultrasonic sensor devices comprises.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the ultrasonic sensor device according to the invention, the driver assistance system according to the invention and the motor vehicle according to the invention.
  • FIG. 1 shows a motor vehicle according to an embodiment of the present invention
  • Ultrasonic sensor devices comprises;
  • Fig. 2 is a received signal of an ultrasonic sensor device and a
  • Correlation signal describing the correlation of a transmission signal with the reception signal according to a first embodiment
  • Fig. 1 shows a motor vehicle 1 according to an embodiment of the present invention, a plan view.
  • the motor vehicle 1 is in the present case as
  • the motor vehicle 1 comprises a
  • the driver assistance system 2 in turn comprises a
  • the driver assistance system 2 comprises at least one ultrasound sensor device 4.
  • the driver assistance system 2 comprises eight ultrasound sensor devices 4.
  • Four ultrasound sensor devices 4 are located in a front region 5 of the
  • the ultrasonic sensor devices 4 comprise an ultrasonic sensor, not shown here, with which an object 8 in an environment 7 of the motor vehicle 1 can be detected.
  • the ultrasonic sensor devices 4 and the ultrasonic sensors are used in particular to determine a relative position between the object 8 and the motor vehicle 1.
  • Ultrasound sensor devices 4 may, for example, in corresponding
  • Through holes are arranged in the bumpers of the motor vehicle 1. It can also be provided that the ultrasonic sensor devices 4 are arranged concealed under the bumpers.
  • the ultrasound sensors of the ultrasound sensor devices 4 usually comprise a membrane, which may for example be pot-shaped and may be formed from aluminum.
  • This membrane can be excited with a corresponding transducer element, such as a piezoelectric element to mechanical vibrations.
  • a transducer element such as a piezoelectric element to mechanical vibrations.
  • an ultrasound signal can be emitted with the respective ultrasound sensor device 4, which is then reflected by the object 8 and returned to the ultrasound sensor device or the membrane.
  • the reflected ultrasonic signal or the echo of the ultrasonic signal the membrane is excited to mechanical vibrations.
  • Receiving signal 9 are output.
  • the transducer element is acted upon or excited by a predetermined transmission signal, in particular a time-varying voltage.
  • the received signal 9 or an envelope of the received signal 9 as a function of the time t is shown on the left side.
  • the course of a correlation signal 10 as a function of time t is shown on the right-hand side.
  • the correlation signal 10 is from the correlation of the transmission signal with the Received signal 9 determined.
  • an amplitude A K of the correlation signal 10 is normalized accordingly.
  • an amplitude A E of the received signal 9 is compared with the amplitude A K of the correlation signal 10. This can be done with the
  • both the amplitude A E of the received signal 9 and the amplitude A K of the correlation signal 10 have the value 1, 2.
  • the ratio of the amplitude A E of the received signal 9 and the amplitude A K of the correlation signal 10 are approximately equal to one. In this case, it can be considered that the reception signal 9 originates from the transmission signal. This can be done by the
  • the reception signal 9 are transmitted together with the information that it is the reception signal 9 is a useful signal or an echo signal.
  • FIG. 3 shows the case in which the received signal 9 is an interference signal or a signal with interference components.
  • the amplitude A E of the received signal 9 in comparison to the amplitude A K of the
  • Correlation signal 10 a much higher amplitude.
  • the correlation signal 10 has an amplitude A K which reaches the value 2.
  • a K amplitude which reaches the value 2.
  • This information can be transmitted from the evaluation device of the ultrasonic sensor device 4 to the
  • Control device 3 are transmitted.
  • the received signal 9 can be filtered accordingly by means of the control device 3.
  • the received signals 9 can be classified or evaluated accordingly.
  • the received signal 9 can be determined whether the received signal 9 describes a real echo or a so-called apparent echo.

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

L'invention concerne un procédé pour l'évaluation d'un signal de réception (9) d'un capteur ultrasonore d'un véhicule à moteur (1), selon lequel le capteur ultrasonore est excité afin d'émettre un signal ultrasonore avec un signal d'émission, le signal de réception (9) est déterminé à l'aide du signal ultrasonore réfléchi par un objet (8) situé dans l'environnement (7) du véhicule à moteur (1), un signal de corrélation (10) est déterminé à partir d'une corrélation du signal d'émission avec le signal de réception (9), et le signal de réception (9) est évalué à l'aide d'une amplitude (AE) du signal de réception (9) et d'une amplitude (AK) du signal de corrélation (10). Un rapport entre l'amplitude (AE) du signal de réception (9) et l'amplitude (AK) du signal de corrélation (10) est déterminé et le signal de réception (9) est évalué à l'aide du rapport déterminé.
PCT/EP2016/065698 2015-07-07 2016-07-04 Procédé pour l'évaluation d'un signal de réception d'un capteur ultrasonore WO2017005688A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015110960.3 2015-07-07
DE102015110960.3A DE102015110960A1 (de) 2015-07-07 2015-07-07 Verfahren zum Auswerten eines Empfangssignals eines Ultraschallsensors, Ultraschallsensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2017005688A1 true WO2017005688A1 (fr) 2017-01-12

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PCT/EP2016/065698 WO2017005688A1 (fr) 2015-07-07 2016-07-04 Procédé pour l'évaluation d'un signal de réception d'un capteur ultrasonore

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DE (1) DE102015110960A1 (fr)
WO (1) WO2017005688A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017126828B4 (de) 2017-11-15 2024-10-17 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Ultraschallsensors für ein Kraftfahrzeug mit Unterdrückung von Störungen in einem zweiten Empfangspfad, Ultraschallsensor sowie Fahrerassistenzsystem
DE102019207038A1 (de) * 2019-05-15 2020-11-19 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln einer Quelle eines Ultraschallsignals auf Basis einer Mehrzahl von Ultraschallsensoren eines Fortbewegungsmittels

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0408112A1 (fr) * 1989-07-14 1991-01-16 Hollandse Signaalapparaten B.V. Appareil radar à impulsions et circuit de discrimination d'impulsions adequat pour insertion dans cet appareil
US5689250A (en) * 1994-09-23 1997-11-18 Mayser Gmbh & Co., Inc. Ultrasound obstacle detecting process
DE102010033384A1 (de) 2010-08-05 2012-02-09 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zu Auswertung eines Echosignals zur Fahrzeugumfelderfassung sowie zugehörige Vorrichtung zur Fahrzeugumfelderfassung
US20120314541A1 (en) * 2011-06-07 2012-12-13 Nippon Soken, Inc. Object detection apparatus
DE102012202975A1 (de) * 2012-02-28 2013-08-29 Robert Bosch Gmbh Verfahren zur Umfelderkennung sowie Fahrassistenzsystem

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Publication number Priority date Publication date Assignee Title
JP4283170B2 (ja) * 2003-12-17 2009-06-24 株式会社デンソー 物体検出装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0408112A1 (fr) * 1989-07-14 1991-01-16 Hollandse Signaalapparaten B.V. Appareil radar à impulsions et circuit de discrimination d'impulsions adequat pour insertion dans cet appareil
US5689250A (en) * 1994-09-23 1997-11-18 Mayser Gmbh & Co., Inc. Ultrasound obstacle detecting process
DE102010033384A1 (de) 2010-08-05 2012-02-09 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zu Auswertung eines Echosignals zur Fahrzeugumfelderfassung sowie zugehörige Vorrichtung zur Fahrzeugumfelderfassung
US20120314541A1 (en) * 2011-06-07 2012-12-13 Nippon Soken, Inc. Object detection apparatus
DE102012202975A1 (de) * 2012-02-28 2013-08-29 Robert Bosch Gmbh Verfahren zur Umfelderkennung sowie Fahrassistenzsystem

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