WO2020239451A1 - Procédé pour déterminer une vitesse d'un objet au moyen d'un capteur à ultrasons par division d'un signal de capteur en signaux partiels, dispositif informatique et système de capteur à ultrasons - Google Patents

Procédé pour déterminer une vitesse d'un objet au moyen d'un capteur à ultrasons par division d'un signal de capteur en signaux partiels, dispositif informatique et système de capteur à ultrasons Download PDF

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Publication number
WO2020239451A1
WO2020239451A1 PCT/EP2020/063410 EP2020063410W WO2020239451A1 WO 2020239451 A1 WO2020239451 A1 WO 2020239451A1 EP 2020063410 W EP2020063410 W EP 2020063410W WO 2020239451 A1 WO2020239451 A1 WO 2020239451A1
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WO
WIPO (PCT)
Prior art keywords
signal
ultrasonic
partial signals
sensor
determined
Prior art date
Application number
PCT/EP2020/063410
Other languages
German (de)
English (en)
Inventor
Maximilian Poepperl
Raghavendra GULAGUNDI
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 WO2020239451A1 publication Critical patent/WO2020239451A1/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
    • G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated 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
    • G01S15/02—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
    • G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to 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
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S7/5276—Extracting wanted echo signals using analogue techniques
    • 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
    • G01S7/534—Details of non-pulse 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
    • 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
    • G01S7/534—Details of non-pulse systems
    • G01S7/536—Extracting wanted echo signals

Definitions

  • the present invention relates to a method for determining a speed of an object by means of an ultrasonic sensor. In the process, the
  • Ultrasonic sensor controlled in such a way that by means of the ultrasonic sensor a
  • Ultrasonic signal is sent out as a chirp.
  • a sensor signal is determined which describes the ultrasonic signal reflected by the object and received with the ultrasonic sensor.
  • a Doppler shift between the transmitted ultrasonic signal and the received ultrasonic signal is determined on the basis of the sensor signal, and the Doppler shift is used to determine the
  • the present invention also relates to a computing device and an ultrasonic sensor device. Finally, the present invention relates to a computer program and a computer-readable one
  • ultrasonic sensor devices for vehicles.
  • ultrasonic sensor devices usually comprise several
  • Ultrasonic sensors which are used to detect objects in an area surrounding the vehicle. Flierzu is made with the ultrasonic sensors
  • the distance to the object can then be determined on the basis of the transit time between the transmission of the ultrasonic signal and the reception of the ultrasonic signal reflected by the object. Furthermore, it is known from the prior art that measurements with
  • Ultrasonic sensors are used to estimate the speed of an object. Fleutige ultrasonic sensors respectively
  • Ultrasonic sensor devices can determine the speed of an object via the change in position between successive measurements.
  • Flierzu, DE 10 2009 029 465 A1 describes a method for determining
  • a measurement of the object speed via the Doppler shift is usually not used with ultrasonic sensors.
  • the determination of the Doppler shift as is usual with radar systems, a direct determination of the object speed is possible.
  • the objects can then be distinguished from one another on the basis of the different object speeds.
  • the approach known from radar technology is prevented by the fact that ultrasonic sensors have a significantly slower propagation speed.
  • Ultrasonic sensor devices usually use an ultrasonic sensor both for emitting and for receiving the reflected ultrasonic signal, since these systems have a strong focus on reducing costs. Due to the costs, a change in the hardware that enables a Doppler measurement is usually not desired.
  • DE 1 630 964 A1 describes a method for avoiding or reducing rear-end collisions or collisions in motor vehicle traffic. It is provided here that a sharply bundled beam of ultrasonic waves running ahead of the own vehicle transmits information about the approach speed and the instantaneous distance from the foreign object after its reflection on the foreign object and in relation to the
  • Speed of the own vehicle triggers a signal or the braking process itself.
  • the information about the approach speed to the foreign object is provided from the Doppler frequency of the reflected wave train.
  • DE 10 2013 21 1 846 A1 describes a method for operating a
  • the Environment detection system of a vehicle with at least one transmitter / receiver unit, wherein the transmitter / receiver unit sends out a frequency-modulated signal and the transmitter / receiver unit and / or one or more further transmitter / receiver units receive echo signals of the transmitted frequency-modulated signal.
  • the emitted frequency-modulated signal has at least a first section with increasing frequencies and a second section with decreasing frequencies or a first section with decreasing frequencies and a second section with increasing frequencies. With a moving object a Doppler shift of the echo signals takes place.
  • the transmitter / receiver unit sends out a frequency-modulated signal and the transmitter / receiver unit and / or one or more further transmitter / receiver units receive echo signals of the transmitted frequency-modulated signal.
  • the emitted frequency-modulated signal has at least a first section with increasing frequencies and a second section with decreasing frequencies or a first section with decreasing frequencies and a second section with increasing frequencies.
  • a first FIR filter device with a first FIR signal and a second FIR filter device with a second FIR signal are determined. From a time difference between the first point in time and the second point in time, the information about the
  • the speed of an object can be estimated in a simple and reliable way using an ultrasonic sensor.
  • a method according to the invention is used to determine a speed of an object by means of an ultrasonic sensor.
  • the ultrasonic sensor is controlled in such a way that an ultrasonic signal is transmitted as a chirp by means of the ultrasonic sensor.
  • a sensor signal is determined which describes the ultrasonic signal reflected by the object and received with the ultrasonic sensor.
  • a Doppler shift between the transmitted ultrasonic signal and the received ultrasonic signal is determined on the basis of the sensor signal, and the speed of the object is determined on the basis of the Doppler shift. It is provided that the sensor signal is divided into a plurality of partial signals, each of the partial signals describing a predetermined frequency range of the sensor signal.
  • a phase difference is determined between the partial signals and the Doppler shift is determined on the basis of the phase difference and a time offset between the partial signals.
  • an object is to be detected in an area surrounding the vehicle and, in particular, the current speed of the object is to be estimated.
  • the method can be carried out, for example, with a corresponding computing device of an ultrasonic sensor device.
  • This computing device can be an electronic control unit (ECU - Electronic Control Unit) of the vehicle or electronics integrated in the ultrasonic sensor.
  • the ultrasonic sensor can have a membrane which, for example, can be pot-shaped and can be made of a metal, in particular aluminum. This membrane comes with a corresponding
  • Sound transducer element for example a piezoelectric element
  • Sound transducer element are excited with a corresponding excitation signal.
  • the transmitted ultrasonic signal is reflected by the object and returns to the ultrasonic sensor.
  • the membrane is stimulated to vibrate by the reflected ultrasonic signal, and the vibration can be detected by means of the sound transducer element.
  • the sensor signal which describes the time profile of the reflected ultrasonic signal, can then be output with the sound transducer element.
  • the sensor signal can be a raw signal that is linked to the
  • Sound transducer element is output in the form of a time-varying electrical voltage and which is correspondingly scanned.
  • the sensor signal can also be provided in that the raw signal is appropriately amplified and / or filtered before the sampling. This sensor signal can then from the
  • Ultrasonic sensor are transmitted to the computing device.
  • the ultrasonic signal is first transmitted with the ultrasonic sensor. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will be able to estimate the current speed of the object. It will
  • the sound transducer element can be excited with a chirp or chirp signal as the excitation signal.
  • the excitation signal can be provided in the form of a time-varying electrical voltage. If the ultrasonic signal is reflected by an object which moves relative to the ultrasonic sensor or to the vehicle, a compression or expansion of the signal occurs as a result of the Doppler effect.
  • the change between the frequency of the transmitted ultrasonic signal and the frequency of the ultrasonic signal reflected from the object can also be referred to as the Doppler shift or the Doppler frequency. This Doppler shift is determined based on the sensor signal.
  • Ultrasonic signal is excited, known.
  • the Doppler shift can then be determined from a comparison of the excitation signal with the sensor signal.
  • the relative speed of the object to the vehicle can be determined on the basis of the Doppler shift. Taking into account the current speed of the vehicle and / or the direction of travel of the vehicle, the speed of the object can then be estimated.
  • the sensor signal is divided into a plurality of partial signals, each of the partial signals having a predetermined one
  • the respective frequency ranges of the partial signals differ from one another.
  • the partial signals can form the sensor signal which are consecutive in time and together.
  • the phase can be determined for each of the partial signals or specific points of the partial signals.
  • the difference between the phases can describe the phase difference. For example, between at least two partial signals, a
  • the Doppler shift can then be determined by determining the phase difference between the at least two partial signals and the known time difference or the known time offset between the at least two partial signals.
  • a phase difference can therefore be determined over time. This results in a frequency which describes the Doppler frequency or the Doppler shift. The speed of the object can then be estimated on the basis of the Doppler shift.
  • the proposed solution therefore consists in a method for estimating the Doppler shift with an ultrasonic sensor under the
  • the division of the sensor signal into the partial signals is preferably carried out in such a way that the respective partial signals have the same duration.
  • the sensor signal is divided into the plurality of partial signals.
  • Each of the partial signals now contains a section of the chirp signal, the frequency of which is precisely known.
  • the respective partial signals have the same duration. Because the respective duration of the partial signals is the same, the time offset between the
  • Partial signals that are used to calculate the Doppler shift are known.
  • the Doppler shift can thus be determined in a simple and reliable manner on the basis of the phase difference.
  • the partial signals are mixed in such a way that a start frequency of the respective partial signals is the same.
  • the respective partial signals can be mixed so that a common center frequency or start frequency of the respective partial signals is created.
  • the respective partial signals can be mixed to the starting frequency of the chirp.
  • a chirp sequence or chirp sequence can be generated from the chirp through this transformation or through the mixing. If the ultrasonic signal or the chirp is now reflected from a moving object, there is a slight temporal shift in the successive partial signals or chirp sequences. This arises from the fact that the object is already moving during the measurement or the transmission of the ultrasonic signal and a change in distance occurs.
  • the respective partial signals can be mixed so that a common center frequency or start frequency of the respective partial signals is created.
  • the respective partial signals can be mixed to the starting frequency of the chirp.
  • a chirp sequence or chirp sequence can be generated from the chirp through this transformation or through the mixing. If the ultrasonic signal or the
  • Partial signals that have been mixed to the start frequency therefore represent a chirp sequence.
  • An evaluation similar to the chirp sequence method can thus be used.
  • the sensor signal is sampled and each of the partial signals comprises a plurality of sampling points, the partial signals being determined in such a way that mutually corresponding sampling points of the respective partial signals are assigned the same frequency. For example, this can
  • Sensor signal can be sampled with a corresponding analog-digital converter.
  • sampling points which the sensor signal describes.
  • the division of the sensor signal into the partial signals and / or the mixing of the partial signals can take place in such a way that after this transformation the sampling points lie on the same points of a frequency.
  • each of the partial signals can pass a plurality of sampling points are described.
  • the division into the chirp sequence takes place in such a way that the respective partial signals have corresponding sampling points.
  • the corresponding sampling points are each assigned to the same frequency.
  • the phase difference between the corresponding sampling points is determined.
  • the time difference between these corresponding sampling points is also known.
  • the Doppler shift can thus be determined in a simple and reliable manner.
  • a plurality of bandpass filters is preferably used for dividing the sensor signal into the partial signals.
  • a plurality of bandpass filters can therefore be used
  • a filter bank can be provided to filter the sensor signal. By filtering the sensor signal can be divided into the partial signals. Since the change in the frequency of the emitted ultrasonic signal is known, the pass ranges of the respective bandpass filters can be selected so that the desired partial signals are output at the outputs of the bandpass filters.
  • the passbands of the bandpass filters can be selected such that the partial signals have the same duration.
  • the partial signals can thus be provided with little effort within a short computing time.
  • the sensor signal in at least five bits
  • Partial signals in particular into at least ten partial signals, is divided. If a sufficiently large number of band pass filters, typically more than ten
  • bandpass filters are used, a sufficient number of partial signals can be generated. This means that the change in distance of the object within a partial signal can be neglected. This allows the speed to be determined on the basis of the phase difference and the time offset.
  • the ultrasonic sensor is controlled in such a way that the ultrasonic signal is a linear chirp-up or a linear chirp-down.
  • the frequency can be increased linearly as a function of time.
  • the frequency of the transmitted ultrasonic signal can be controlled in such a way that the ultrasonic signal is a linear chirp-up or a linear chirp-down.
  • Ultrasonic signal can be reduced linearly as a function of time. With the method according to the invention it is sufficient to use only one chirp-up signal or one chirp-down signal. Thus, the speed of the object can be estimated within a short period of time. It is also advantageous if the sensor signal describes the ultrasonic signal reflected by a further object, the Doppler shift is determined for the further object, and the speed of the further object is determined on the basis of the Doppler shift. In principle, there can be several objects in the
  • the area around the vehicle In the case of several objects at different speeds, there are currently different Doppler frequencies.
  • the respective speeds of the objects can thus be determined.
  • this also includes checking on the basis of the respective Doppler shift whether the object is moving or is a static object. The objects can thus be classified accordingly.
  • Sending the ultrasonic signal and receiving the ultrasonic signal a respective distance to the object and the further object is determined and the respectively determined Doppler shift is assigned to the object and the further object as a function of the distance.
  • the respective distance between the ultrasonic sensor and the object or the object can be determined on the basis of the transit time.
  • the Doppler shift can thus also be determined for the respective objects and the speeds of the objects can be derived from this.
  • the individual objects can be distinguished based on their different speeds. It can also be provided that static objects, that is to say non-moving objects, from moving objects or
  • a computing device for an ultrasonic sensor device of a vehicle is designed to carry out a method and the advantageous embodiments thereof.
  • the computing device can be provided, for example, by an electronic control unit of the vehicle.
  • the computing device can be provided by electronics of the ultrasonic sensor.
  • the computing device can be provided in particular by an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • the ultrasonic sensor device can preferably have a plurality of ultrasonic sensors which, for example, can be arranged in a distributed manner on the motor vehicle.
  • Another aspect of the invention relates to a driver assistance system which comprises an ultrasonic sensor device according to the invention. By means of the driver assistance system, the vehicle can be maneuvered at least semi-autonomously as a function of the detected object.
  • a vehicle according to the invention includes one according to the invention
  • the vehicle can be designed as a passenger car, for example. It can also be provided that the vehicle is designed as a utility vehicle.
  • a further aspect of the invention relates to a computer program comprising commands which, when the program is executed by a computing device, cause the computer to execute a method according to the invention and the advantageous refinements thereof.
  • a computer-readable (storage) medium comprises commands which, when executed by a computing device, cause it to execute a method according to the invention and the advantageous embodiments thereof.
  • Embodiments and their advantages apply accordingly to the computing device according to the invention, to the ultrasonic sensor device according to the invention, to the vehicle according to the invention, to the computer program according to the invention and to the computer-readable (storage) medium according to the invention.
  • FIG. 1 shows a schematic illustration of a vehicle which has a
  • Ultrasonic sensor device with a plurality of ultrasonic sensors, and an object in a surrounding area of the vehicle;
  • FIG. 3 shows the sensor signal according to FIG. 2, which is divided into a plurality of partial signals
  • Fig. 4 shows the individual partial signals according to FIG. 3, the partial signals on a
  • FIG. 5 shows the partial signals according to FIG. 4, with respective sampling points of the partial signals being shown.
  • the vehicle 1 shows a vehicle 1, which in the present case is designed as a passenger vehicle, in a top view.
  • the vehicle 1 includes a driver assistance system 2, which for this purpose serves to support a driver in driving the vehicle 1.
  • the driver assistance system 2 can be designed, for example, as a parking assistance system, by means of which a driver can be supported when parking the vehicle 1 in a parking space and / or when pulling out of the parking space.
  • the driver assistance system 2 or the vehicle 1 also has a
  • Ultrasonic sensor device 3 comprises at least one ultrasonic sensor 4.
  • the ultrasonic sensor device 3 comprises twelve ultrasonic sensors 4, six of which are arranged in a front area 6 of the vehicle 1 and six in a spot area 7 of the vehicle 1.
  • the ultrasonic sensors 4 can be mounted on the bumpers of the vehicle 1, for example.
  • the ultrasonic sensors 4 can be located in corresponding recesses or at least in some areas
  • the ultrasonic sensors 4 are arranged concealed behind the bumpers.
  • the ultrasonic sensors 4 can also be arranged on further trim parts or components of the vehicle 1.
  • the vehicle 1 the ultrasonic sensors 4 can also be arranged on further trim parts or components of the vehicle 1.
  • Ultrasonic sensors can be arranged on or hidden behind the doors of the vehicle 1.
  • Objects 8 in a surrounding area 9 of vehicle 1 can be detected with the respective ultrasonic sensors 4.
  • An object 8 is shown schematically in the present case
  • the ultrasonic sensor device 3 also includes an electronic computing device 5, which is connected to the respective ultrasonic sensors 4 for data transmission.
  • the corresponding data bus is not shown here for the sake of clarity.
  • the respective ultrasonic sensors 4 can be stimulated to emit the ultrasonic signal with a corresponding excitation signal.
  • sensor signals 10 that are provided by the ultrasonic sensors 4 can be transmitted to the computing device 5. Based on the
  • Sensor signals 10 can then be used with computing device 5 to detect objects 8 in a surrounding area 9. This information can then be used by the
  • Driver assistance system 2 can be used to output an output to the driver of the
  • Driver assistance system 2 in a steering, a braking system and / or a
  • FIG. 2 shows a profile of a sensor signal 10 in a schematic representation.
  • the time t is plotted on the abscissa and the frequency f is plotted on the ordinate.
  • the ultrasonic signal which is emitted by the ultrasonic sensor 4 is a linear chirp-up signal.
  • the sensor signal 10, which describes the ultrasonic signal reflected from the object 8, is thus also a linear chirp-up signal.
  • the frequency f of the sensor signal 10 increases linearly as a function of the time t.
  • the frequency f is increased from a starting frequency f1 to an end frequency f2.
  • the chirp duration tc of the sensor signal 10 is also shown.
  • the ultrasonic signal can be a chirp-down.
  • FIG. 3 shows the sensor signal 10 according to FIG. 2, which is divided into a plurality of partial signals 11.
  • a plurality of bandpass filters can be used to divide the sensor signal 10 into the partial signals 11.
  • a specific frequency range FB1, FB2, FB3, FB4 is assigned to each bandpass filter.
  • four frequency ranges FB1 to FB4 are used.
  • the time course of the frequency f of the sensor signal 10 is known.
  • each of the partial signals 11 contains a section of the sensor signal 10 or a chirp section, the frequency ranges FB1 to FB4 of the partial signals being precisely known.
  • the frequency ranges FB1 to FB4 are selected in such a way that the respective partial signals 11 have the same duration td.
  • the partial signals 11 are mixed so that a common center frequency of all filters is created. This is illustrated in the present case by arrows 12.
  • Fig. 4 shows the individual partial signals 11 of the sensor signal 10 after mixing. It can be seen here that the respective partial signals 11 have the same duration td. This transformation turns the actual individual chirp into a chirp sequence.
  • the respective start frequencies f1 of the partial signals 1 1 correspond to the start frequency f1 of the sensor signal 10. If the chirp is now reflected by a moving object 8, the successive partial signals 11 are slightly shifted over time. This arises because the object 8 is already moving during the measurement and thus a change in distance occurs. Since a large number of filters, typically more than ten filters, is usually used, the change in distance within a partial signal 11 can be neglected.
  • the sensor signal 10 is scanned accordingly.
  • the partial signals 1 1 or the bandpass filters are selected so that the sampling points P1 -1, P2-1, P3-1 lie on the same frequency f. It can also be provided that time differences ⁇ t between the partial signals 1 1 are corrected, so that all partial signals 1 1
  • an object 8 may have moved a certain distance. This means that depending on the speed one
  • Phase shift or a very small change in distance between the measurement of the sampling point P1 -1 and the sampling point P2-1 has taken place. If the object 8 moves at a constant speed during the measurement, the same phase shift also takes place between the sampling point P2-1 of the second partial signal 11 and a sampling point P3-1 of a third partial signal 11. Overall, there is a time-dependent phase shift.
  • the Doppler frequency or Doppler shift can be derived from the quotient of the
  • Phase difference and the time offset ⁇ t between the sampling points P1 -1, P2-1, P3-1 can be determined.
  • the time offset ⁇ t corresponds to the present time duration td of the respective partial signals 11. In narrowband systems, as are present in the case of the ultrasonic sensors 4, the same also applies to the further sampling points.
  • the respective distances between the objects 8 and the ultrasonic sensor 4 can be determined on the basis of the transit time between the transmission of the ultrasonic signal and the reception of the ultrasonic signal reflected by the object 8. In this way, several objects 8 can be distinguished from one another.

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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 déterminer une vitesse d'un objet (8) au moyen d'un capteur à ultrasons (4), selon lequel le capteur à ultrasons (4) est activé de sorte qu'un signal ultrasonore est émis sous forme de chirp au moyen du capteur à ultrasons (4), un signal provenant du capteur (10) et décrivant le signal ultrasonore réfléchi par l'objet (8) et reçu avec le capteur à ultrasons (4) est déterminé, un décalage Doppler entre le signal ultrasonore émis et le signal ultrasonore reçu est déterminé au moyen du signal provenant du capteur (10) et la vitesse de l'objet (8) est déterminée au moyen du décalage Doppler, le signal provenant du capteur (10) est divisé en une pluralité de signaux partiels (11), chacun des signaux partiels (11) décrivant une gamme de fréquences (FB1-FB4) prédéfinie du signal provenant du capteur (10), une différence de phase entre les signaux partiels (11) étant déterminée et le décalage Doppler étant déterminé au moyen de la différence de phase et d'un décalage temporel (Δt) entre les signaux partiels (11).
PCT/EP2020/063410 2019-05-28 2020-05-14 Procédé pour déterminer une vitesse d'un objet au moyen d'un capteur à ultrasons par division d'un signal de capteur en signaux partiels, dispositif informatique et système de capteur à ultrasons WO2020239451A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019114201.6 2019-05-28
DE102019114201.6A DE102019114201A1 (de) 2019-05-28 2019-05-28 Verfahren zum Bestimmen einer Geschwindigkeit eines Objekts mittels eines Ultraschallsensors durch Einteilung eines Sensorsignals in Teilsignale, Recheneinrichtung sowie Ultraschallsensorvorrichtung

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