WO2017125366A1 - Procédé d'adaptation d'une variation de valeur seuil d'écho pour un capteur à ultrasons d'un véhicule automobile - Google Patents

Procédé d'adaptation d'une variation de valeur seuil d'écho pour un capteur à ultrasons d'un véhicule automobile Download PDF

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Publication number
WO2017125366A1
WO2017125366A1 PCT/EP2017/050844 EP2017050844W WO2017125366A1 WO 2017125366 A1 WO2017125366 A1 WO 2017125366A1 EP 2017050844 W EP2017050844 W EP 2017050844W WO 2017125366 A1 WO2017125366 A1 WO 2017125366A1
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WO
WIPO (PCT)
Prior art keywords
threshold
ultrasonic sensor
threshold value
curve
motor vehicle
Prior art date
Application number
PCT/EP2017/050844
Other languages
German (de)
English (en)
Inventor
Thomas Jung
Wolfgang Hamm
Joern Karl Friedrich Lichtenhagen
Bastian Hafner
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 WO2017125366A1 publication Critical patent/WO2017125366A1/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
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • 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
    • G01S15/66—Sonar tracking 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
    • G01S15/87—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
    • 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 a method for operating an ultrasonic sensor of a motor vehicle, wherein for the ultrasonic sensor, a predetermined, a distance-dependent course of threshold values having threshold curve is provided, with which an amplitude of the ultrasonic sensor for measuring a distance between the motor vehicle and in a
  • the invention also relates to a
  • Ultrasonic sensor device Ultrasonic sensor device, a driver assistance system and a motor vehicle.
  • ultrasonic sensors by means of which distances between a motor vehicle and objects located in its surroundings can be measured.
  • the objects detected by the ultrasonic sensor and their distances can be provided to a driver assistance system of the motor vehicle, for example a parking assistance assistant.
  • Ultrasonic sensors work according to the echo delay principle. This means that a transmission signal in the form of a
  • the transmission signal is reflected in the surrounding area of the motor vehicle and is received as a received signal again from the ultrasonic sensor.
  • the received signal has a multiplicity of echoes which originate from reflections in the surrounding area.
  • the echoes can be so-called target echoes which originate from a reflection of the transmission signal at an object, or be clutter echoes or ground echoes which originate from a reflection of the transmission signal at a floor or a lane of the motor vehicle.
  • Sensitivity of the ultrasonic sensor can be adjusted. If the amplitude of an echo is greater than the threshold curve, then the echo is interpreted as a target echo and evaluated. If the amplitude of an echo is smaller than the threshold curve, it will Echo interpreted as a false echo or ground echo, which is to be filtered out or hidden.
  • Threshold curve are given. A temporal location of the bases of the
  • Threshold curve can be changed depending on the operating conditions of the ultrasonic sensor or environmental conditions.
  • the threshold curve is specified as a distance-dependent or transit time-dependent profile of threshold values.
  • correspondingly high threshold values are predetermined, so that the ultrasonic sensor has a reduced or lower sensitivity in this area.
  • Sensitivity of the ultrasonic sensor may result in objects which, in a distance range in which the ultrasound sensor has low threshold values and thus high sensitivity, being able to be recognized without difficulty in particular being weakly reflective, no longer being detected in that distance range with the reduced sensitivity can.
  • An inventive method is used to operate an ultrasonic sensor of a motor vehicle.
  • a predetermined threshold value curve having a distance-dependent variation of threshold values is provided for the ultrasonic sensor, with which an amplitude of one of the ultrasonic sensor for measurement a distance between the motor vehicle and a received in an environment region of the motor vehicle object received signal to be compared.
  • at least a threshold value of the threshold curve is lowered after detecting the presence of the object in the surrounding area.
  • the received signal Surrounding area receive the received signal.
  • the received signal has a distance-dependent or transit-time-dependent profile. This means that the received signal has a multiplicity of echoes, each echo being based on its position in the received signal in each case one transit time and thus one
  • Distance in the environment area can be assigned.
  • an amplitude of the echo, in particular a maximum of the echo with the
  • the threshold curve is a distance in the surrounding area
  • each echo is compared with that threshold value of the threshold curve which is associated with the distance corresponding to the echo.
  • the echo is characterized as a target echo, that is, from a reflection on an object. Then the echo can be evaluated to determine the distance of the object. The distance of the object is determined as the distance at which the echo in the distance-dependent
  • Receive signal occurs. If the amplitude of the echo falls below the associated threshold value, the echo is characterized as a false echo or ground echo, that is, originating from a reflection at a floor or roadway of the motor vehicle. In particular, the echo is not evaluated and rejected, for example.
  • the predetermined threshold curve predetermines a sensitivity of the ultrasonic sensor, a so-called standard sensitivity of the ultrasonic sensor.
  • the threshold curve may be subdivided into at least three threshold curve sections, with each threshold section being associated with a range of distances.
  • a first distance range may include distances from a near range with respect to the motor vehicle.
  • a second distance range may include distances from a central area relative to the motor vehicle and a third distance Distance range may have distances from a remote area with respect to the motor vehicle.
  • the distances from the middle region are assigned higher threshold values than the distances from the near range and the far range, since, for example, ground echoes occur particularly frequently in the middle region. If the threshold curve is fixed and is not changed, it may happen that an object located in the far field, which, for example, based on the comparison of the amplitude of the echo with the remote area assigned
  • Threshold was detected, can no longer be detected when it is in the central area, since the amplitude of the echo, for example, no longer exceeds the threshold associated with the central area.
  • the object is in a so-called detection gap.
  • Sensitivity of the ultrasonic sensor is increased when an object in the surrounding area has been detected by the ultrasonic sensor. If, for example, the object was detected at a first distance from the motor vehicle in a first measuring cycle, at least one threshold value is reduced for at least one second measuring cycle following the first measuring cycle, which corresponds to a smaller second distance than the first distance.
  • the object whose distance relative to the motor vehicle changes for example, due to a movement of the motor vehicle and / or the object between the two measuring cycles, can in particular decrease, can also in the at least one second
  • Measuring cycle are detected.
  • Threshold curve section is lowered.
  • the object can still be reliably detected even if it is located in the central area.
  • Ultrasonic sensor can be detected.
  • the process is designed to be particularly reliable.
  • the presence of the object is detected when in one
  • the object based on the comparison of the amplitude of the received in the measuring cycle Receiving signal is detected with the threshold curve. For example, the object is detected for the first time in a first measuring cycle by exceeding the
  • Threshold curve is detected by an amplitude of an echo in the received signal from the ultrasonic sensor.
  • the presence of the object is detected when the amplitude of the echo associated with the object, for example, exceeds the threshold curve in at least one further measuring cycle.
  • the object detected for the first time is confirmed if it is in the at least one other
  • Measuring cycle is detected again. For example, three, in particular temporally consecutive, measuring cycles can be specified in which the object must be detected in order to detect the presence of the object. Thus, it can be ensured that the sensitivity is increased only when an object is actually located in the surrounding area of the motor vehicle.
  • the at least one threshold value is reduced as soon as the presence of the object is detected by the ultrasonic sensor.
  • the sensitivity of the ultrasonic sensor is increased immediately when the presence of the object has been detected. This means that immediately after detection of the presence of the object in the surrounding area the at least one threshold value is reduced.
  • the object can be permanently detected with a particularly high sensitivity.
  • the at least one threshold value is only reduced as soon as the object already detected by the ultrasound sensor is no longer detected on the basis of the comparison of the amplitude of the received signal with the threshold value curve.
  • the at least one threshold value is not already reduced as soon as the object has been detected, but only when it can no longer be detected by the ultrasound sensor, for example due to the object entering the detection gap. In other words, it means that the sensitivity is not increased immediately but as needed. Thus it can be prevented that the
  • Ultrasonic sensor is set too sensitive and the ultrasonic sensor, for example, thereby incorrectly interpreted ground echoes as target echoes, although the object could still be detected with the standard sensitivity. In particular, the sensitivity is then increased only in that distance range in which the object with the standard sensitivity can not be detected.
  • all threshold values of the threshold curve are reduced after detection of the presence of the object in the surrounding area.
  • all threshold values are reduced as soon as the presence of the object has been detected, ie immediately after the detection of the presence of the object.
  • the predetermined threshold curve can be shifted parallel to more sensitive threshold values. This will be the predetermined
  • Threshold curve or standard threshold curve is mapped to a more sensitive threshold curve.
  • Sensitivity of the sensor can be increased.
  • threshold value of the threshold curve can be reduced, which corresponds to a detected by the ultrasonic sensor actual distance of the object.
  • the threshold curve is only partially lowered. This means that always only one threshold value is lowered, namely the threshold value in the distance-dependent profile of the threshold curve, which corresponds to the current distance of the object.
  • Threshold values of the threshold curve are given the default values.
  • a window "traveling" with the object is formed in the threshold curve in which the ultrasonic sensor has the increased sensitivity
  • the standard sensitivity can be maintained for a maximum period of time a misinterpretation of ground echoes as target echoes can be prevented.
  • the at least one threshold value of the threshold curve is reduced until the presence of the object of the
  • Ultrasonic sensor based on the comparison of the amplitude of the received signal with the at least one reduced threshold is no longer detected.
  • the object has moved away from the surrounding area of the motor vehicle.
  • the at least one threshold value is increased again so that the ultrasonic sensor is operated again with the standard sensitivity.
  • Threshold curve reduced to a predetermined value.
  • a first value or default value is specified for each threshold value.
  • the default values are provided when there is no object in the surrounding area of the motor vehicle.
  • a lower second value than the default value may be predetermined for each threshold and provided once the object has been detected in the surrounding area.
  • the at least one threshold value of the threshold curve is set after detecting the presence of the object so that a difference between the amplitude of the echo in the received signal and the threshold value falls below a predetermined limit value.
  • the threshold is thus set dynamically in the presence of the object. This means that the threshold value is lowered, for example, only so far that the object can barely be detected by the ultrasound sensor, ie that the amplitude of the echo associated with the object just exceeds the at least one dynamically determined threshold value. In other words, this means that the predetermined limit value is chosen so that the amplitude of the echo only slightly exceeds the at least one threshold value of the threshold curve. Thus, it can be ensured that, although the object can be detected in particular permanently, but unwanted noise, such as ground echoes are no longer recognized.
  • the invention also relates to an ultrasonic sensor device having at least one ultrasonic sensor and a control device which is designed to
  • the control device may be, for example, a central control unit of the motor vehicle, which can control a plurality of ultrasonic sensors of the motor vehicle and thus the
  • Sensitivity of each ultrasonic sensor can be set individually. However, it can also be provided that the control device is integrated in the ultrasonic sensor, so that each ultrasonic sensor has a control device. Thus, each ultrasonic sensor itself can increase its sensitivity if it has detected an object in the surrounding area.
  • An inventive driver assistance system comprises an inventive
  • the driver assistance system can be configured, for example, as a parking assistance assistant.
  • the invention also relates to a motor vehicle with a driver assistance system.
  • the motor vehicle is designed in particular as a passenger car.
  • Fig. 1 is a schematic representation of an embodiment of a
  • Fig. 2 is a schematic representation of a predetermined threshold curve
  • FIG. 3 is a schematic representation of the threshold curve according to FIG. 2 and a lowered threshold curve; and Fig. 4 is a schematic representation of the threshold curve of FIG. 2, which is partially lowered.
  • FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is formed in the present embodiment as a passenger car.
  • the motor vehicle 1 comprises a
  • Driver assistance system 2 which is designed for example as a parking assistance assistant and can support a driver of the motor vehicle 1 during a parking operation.
  • the driver assistance system 2 comprises an ultrasound sensor device 3 which has at least one ultrasound sensor 4 and a control device 5.
  • the ultrasound sensor device 3 comprises eight ultrasound sensors 4.
  • Four ultrasound sensors 4 are arranged in a front region 6 of the motor vehicle 1 and four further ultrasound sensors 4 are arranged in a rear region 7 of the motor vehicle 1.
  • a surrounding area 8 of the motor vehicle 1 can be monitored.
  • Ultrasonic sensors 4 adapted to a distance of an object 9 in the
  • the ultrasonic sensors 4 can emit a transmission signal in the form of an ultrasound signal and reflected in the surrounding area 8
  • the control device 5 is designed here as a vehicle-side, central control unit, which can communicate with the ultrasonic sensors 4.
  • Control device 5 can drive the ultrasonic sensors 4, for example, to set or specify a sensitivity of the ultrasonic sensors 4. But it can also be provided that each ultrasonic sensor 4 has its own
  • Control device 5 for example in the form of an evaluation device which is integrated into the respective ultrasonic sensor 4.
  • the received signal received from one of the ultrasonic sensors 4 has a distance-dependent or transit time-dependent profile. This shows that Receiving signal usually a plurality of echoes, which are derived from reflections in the surrounding area 8. Based on a position of an echo in the
  • Receive signal the duration of the echo can be determined, which can be converted directly into the distance in which the transmission signal in the
  • a predetermined threshold curve 10 is provided, which is shown in FIG. 2 and through which a standard sensitivity of the ultrasonic sensor 4 is predetermined.
  • threshold values S are plotted over the transit time t, which can be converted into a distance relative to the motor vehicle 1, by means of which the
  • runtime-dependent or distance-dependent threshold curve 10 is specified.
  • respective transit times t1, t2, t3 are a threshold value S1, S2, S3
  • the threshold curve 10 here has three threshold curve sections. A first time range corresponding to a near range is
  • Thresholds S assigned from a first threshold range are assigned from a first threshold range.
  • Time range which corresponds to a central area, are associated with threshold values S from a second threshold range and a third time range, which corresponds to a far range, are threshold values S from a third time range
  • the running time t1 is assigned to an object which is located in the far-end area
  • the running times t2 and t3 are assigned to an object which is located in the middle area.
  • floor echoes occur more frequently in the middle area. Therefore, the threshold values S2, S3 associated with the second threshold range are increased in relation to the threshold values S1 from the first and third threshold ranges. In other words, this means that the ultrasonic sensor 4 has a lower sensitivity in the center region than in the near region and the far region.
  • This threshold curve 10 is used to compare the amplitudes of the echoes in the received signal. If an amplitude exceeds the threshold curve 10, the associated echo is identified as the target echo. If an amplitude falls below the threshold curve 10, the associated echo is identified, for example, as ground echo.
  • a profile of the amplitude A of the echo 1 1 associated with the object 9 in the received signal detected by the ultrasonic sensor 4 as a function of the transit time t is shown. The lower the transit time t of the echo 1 1, the closer the object 9 is to the motor vehicle 1, that is, the smaller the distance of the object 9 to the motor vehicle 1.
  • the object 9 can be detected on the basis of the comparison of the amplitude A of the echo 1 1 with the threshold curve 10 when the echo 1 1 has a transit time between t1 and t2 and t3 and 0.
  • the object 9 is first detected by the ultrasonic sensor 4 at the transit time t1 on the basis of the comparison of the amplitude A of the echo 11 with that at the transit time t1
  • the amplitude A of the echo 1 1 is greater than or equal to the threshold value curve 10.
  • the object 9 can no longer be detected, since the amplitude A of the echo 1 1 does not exceed the threshold curve 10 in this area. The object 9 is thus located in a detection gap 12.
  • At least one threshold value S1, S2, S3 of the threshold curve 10 is lowered when the presence of the object 9 in the surrounding area 8 of the motor vehicle 1 has been detected.
  • a reduced value S1 ', S2', S3 ' is provided for the at least one threshold value S1, S2, S3.
  • the reduced values S1 ', S2', S3 ' may, for example, be predetermined and stored in a vehicle-internal memory or determined dynamically by the control device 5.
  • the reduced values S1 ', S2', S3 ' can be determined so that the amplitude A of the echo 1 1 the respective reduced threshold value S1', S2 ', S3' by only one highest
  • Threshold curve 10 lowered.
  • the predetermined threshold curve 10 that is to say the standard threshold curve 10
  • the standard threshold curve 10 is moved in parallel, so that the default threshold S1 to the reduced
  • Threshold S1 ' the standard threshold S2 is mapped to the reduced threshold S2' and the standard threshold S3 is mapped to the reduced threshold S3 '.
  • the object 9 can also be detected when the echo 1 1 has a transit time t between t2 and t3.
  • the at least one reduced threshold value S1 ', S2', S3 ' is provided as long as the object 9 can also be determined on the basis of the comparison of the amplitude A of the echo 11 in FIG.
  • Received signal with the reduced, more sensitive threshold curve 10 ' is no longer detected. It is then assumed that the object 9 is no longer located in the surrounding area 8 of the motor vehicle 1.
  • the at least one threshold value S1, S2, S3 can be lowered as soon as the object 9 has been detected, ie immediately after the object 9 has been detected. However, it can also be provided that the at least one threshold value S1, S2, S3 is lowered only when the object 9 can no longer be detected by the comparison of the amplitude A of the echo 11 with the threshold value curve 10. This is the case, for example, when the echo 1 1 has a transit time t, which is located within the detection gap 12.
  • Fig. 4 it is shown that the threshold curve 10 is only partially lowered.
  • threshold value S4 is mapped to a lowered threshold value S4 ', which corresponds to an instantaneous transit time t4 of the echo 1 1.
  • a threshold curve section is lowered, which has the threshold value S4.
  • a window "moving in” with the transit time t of the echo 1 1 is determined in the threshold curve 10.
  • the sensitivity of the ultrasound sensor 4 is dynamically adjusted and only increased in certain areas can no longer be detected by means of the comparison of the amplitude A of the echo 1 1 with the threshold value curve 10.

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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 permettant de faire fonctionner un capteur à ultrasons (4) d'un véhicule automobile (1), procédé selon lequel une courbe de valeurs seuil (10) prédéfinie présentant une variation, dépendante de la distance, de valeurs seuil (S1, S2, S3) est fournie pour le capteur à ultrasons (4), courbe de valeurs seuil à laquelle est comparée une amplitude (A) d'un signal de réception reçu par le capteur à ultrasons (4) pour la mesure d'une distance entre le véhicule automobile (1) et un objet (9) se trouvant dans une zone environnante (8) du véhicule automobile (1), au moins une valeur seuil (S1, S2, S3) de la courbe de valeurs seuil (10) étant diminuée après la détection de la présence de l'objet (9) dans la zone environnante (8) pour augmenter une sensibilité du capteur à ultrasons (4). L'invention concerne en outre un dispositif de détection à ultrasons (3), un système d'aide à la conduite (2) ainsi qu'un véhicule automobile (1).
PCT/EP2017/050844 2016-01-18 2017-01-17 Procédé d'adaptation d'une variation de valeur seuil d'écho pour un capteur à ultrasons d'un véhicule automobile WO2017125366A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016100732.3 2016-01-18
DE102016100732.3A DE102016100732B4 (de) 2016-01-18 2016-01-18 Verfahren zum Betreiben eines Ultraschallsensors eines Kraftfahrzeugs. Ultraschallsensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug

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Publication Number Publication Date
WO2017125366A1 true WO2017125366A1 (fr) 2017-07-27

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US20180239017A1 (en) * 2017-02-17 2018-08-23 Valeo Schalter Und Sensoren Gmbh Method for detecting an object in a surrounding region of a motor vehicle with the aid of an ultrasonic sensor with improved filtering of ground reflections, control device, ultrasonic sensor apparatus and motor vehicle
CN109765563A (zh) * 2019-01-15 2019-05-17 北京百度网讯科技有限公司 一种超声波雷达阵列、障碍物检测方法及系统

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JP6945399B2 (ja) * 2017-09-13 2021-10-06 株式会社クボタ 障害物検出装置
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DE102012016866A1 (de) * 2012-08-25 2014-02-27 Valeo Schalter Und Sensoren Gmbh Verfahren zur verbesserten Ansteuerung von Ultraschallsensoren, Fahrerassistenzeinrichtung und Kraftfahrzeug

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US20180239017A1 (en) * 2017-02-17 2018-08-23 Valeo Schalter Und Sensoren Gmbh Method for detecting an object in a surrounding region of a motor vehicle with the aid of an ultrasonic sensor with improved filtering of ground reflections, control device, ultrasonic sensor apparatus and motor vehicle
US10859697B2 (en) * 2017-02-17 2020-12-08 Valeo Schalter Und Sensoren Gmbh Method for detecting an object in a surrounding region of a motor vehicle with the aid of an ultrasonic sensor with improved filtering of ground reflections, control device, ultrasonic sensor apparatus and motor vehicle
CN109765563A (zh) * 2019-01-15 2019-05-17 北京百度网讯科技有限公司 一种超声波雷达阵列、障碍物检测方法及系统
US11933893B2 (en) 2019-01-15 2024-03-19 Beijing Baidu Netcom Science And Technology Co., Ltd. Ultrasonic radar array, and obstacle detection method and system

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