Computational background noise compensation for ultrasonic sensor systems

Abstract

The invention relates to a method for calculating a noise compensation for a concealed mounted ultrasonic sensor system (1), in particular for a vehicle with a wall material (2), comprising the following steps: detecting reference ambient information (100) using an ultrasonic sensor (5) of the ultrasonic sensor system (1), the reference ambient information comprising noise signal information (3) and / or air-borne sound signal information (4) related to the wall material (2); storing the reference ambient information (200); detecting real-time ambient information (300) using the ultrasonic sensor (5), the real-time ambient information comprising noise signal information (3) and / or air-borne sound signal information (4) related to the wall material (2); and forming a difference signal between pieces of ambient information (400) of the reference ambient information and the real-time ambient information using a calculation unit (6). The invention also relates to a system for calculating an ultrasonic compensation, the system having means for carrying out the steps of the method. The invention also relates to a vehicle having a system for calculating an ultrasonic compensation. The invention also relates to a computer program, a data carrier signal and a computer readable medium.

Description

Technical Field

[0001] This invention relates to a computational noise compensation method for ultrasonic sensor systems installed in a concealed or uncovered manner, particularly for vehicles.

[0002] The present invention also relates to a computational noise compensation system having means for performing the steps of the method.

[0003] The present invention also relates to a vehicle having a computational noise compensation system.

[0004] The present invention also relates to a computer program including commands that, when executed by a computer, cause the computer to perform the steps of the method.

[0005] The present invention also relates to a data carrier signal for carrying computer programs.

[0006] The present invention also relates to a computer-readable medium comprising commands that, when executed by a computer, cause the computer to perform the steps of the method. Background Technology

[0007] Ultrasonic transducers or ultrasonic sensor systems used for environmental monitoring are typically installed in vehicles in an unconcealed manner, meaning that openings in the vehicle's wall material exist in the area of ​​the ultrasonic transducer.

[0008] Concealed installation of ultrasonic transducers or ultrasonic sensor systems (so that they are not visible from the outside) is visually preferred, but it has not been widely accepted because the propagation of sound amplitude by parasitic structures in the adjacent vehicle structure, especially in its wall material (which thus occurs during ultrasonic signal transmission and attenuates only slowly without further measures) significantly hinders the reliable detection of ultrasonic signals coupled in as echoes via the air propagation path.

[0009] In this regard, for example in the case of a vehicle, a concealed ultrasonic sensor system means that one or more ultrasonic sensors are not visible from the outside. The ultrasonic signals emitted by the ultrasonic sensor system penetrate the wall material on which the sensors are arranged. During this process, the ultrasonic signals penetrate the wall material twice for ultrasonic detection, particularly during the transmission and reception of the ultrasonic signals by the concealed ultrasonic sensor system. During this process, the wall material vibrates. These vibrations resonate for such a long time that they interfere with the measurement of the echo time of flight.

[0010] It is known from existing technology to use mechanical devices to suppress these vibrations, also known as structural sound transmission.

[0011] However, for environmental detection using concealed ultrasonic transducers, recent prior art discloses the attachment of materials to attenuate the amplitude of sound propagating from structures in the immediate vicinity of the ultrasonic transducer. In other words, the structure is targeted and damped in the adjacent region of the respective ultrasonic transducer, to which the ultrasonic transducer membrane is mechanically coupled to transmit and receive airborne ultrasound.

[0012] Public application DE102017127587A1 discloses a damping pad made of butyl rubber, which is mixed with fibers to enhance the damping effect and achieve the damping effect over a wider temperature range.

[0013] Publication DE102015116442A1 discloses a damping device having two different damping elements that operate at different temperatures.

[0014] The use of this damping device presents several problems, particularly the damping characteristics which are highly dependent on temperature, the complex installation process, the significantly limited space available for placing the transducer, the additional mass due to the damping material, the huge development costs due to the need for a separate solution for each vehicle, and ultimately, additional costs.

[0015] According to existing technology, another possibility for reducing unwanted structure-borne sound is to use a reinforcing element close to the ultrasonic transducer or ultrasonic sensor system. This significantly impedes the propagation of structure-borne sound waves.

[0016] Public application DE102012106700A1 discloses a reinforcing element designed to reduce wall vibration.

[0017] This approach addresses problems for which there are currently no solutions, particularly visual cues, increased expenses during installation, limited space for placing the ultrasonic sensor system, additional mass due to reinforcing materials, and additional costs.

[0018] Another branch of the research involves blocking ultrasonic signals from adjacent sensors that propagate through the wall material. This is done as part of signal processing, for example, by adjusting a threshold or blocking the time window in which these interfering signals from adjacent sensors arrive. However, it has been found that, despite the significant expenditure involved, this process leads to inaccurate results, and therefore accidents cannot be ruled out.

[0019] The previously mentioned examples from existing technologies demonstrate that, in particular, compensation for structure-borne sound and general noise presents unresolved issues. Summary of the Invention

[0020] Based on the above-mentioned prior art, the present invention is therefore intended to overcome the above-mentioned disadvantages by providing a computational noise compensation method, a computational ultrasonic compensation system, a vehicle, a computer program, a data carrier signal, and a computer-readable medium for an ultrasonic sensor system that can be optionally installed in a concealed or unconcealed manner.

[0021] According to the invention, this objective is achieved by the features of the independent claim. Advantageous embodiments of the invention are specified in the dependent claims.

[0022] According to the present invention, a method for calculating noise compensation for an installed ultrasonic sensor system is thus provided, particularly for vehicles with wall materials, comprising the following steps:

[0023] The ultrasonic sensor system uses ultrasonic sensors to detect reference environmental information, which includes noise signal information related to the wall material and / or airborne sound signal information.

[0024] Store reference environment information;

[0025] Ultrasonic sensors are used to detect real-time environmental information, including noise signals related to the wall material and / or airborne sound signals; and

[0026] The computing unit is used to generate difference signals between multiple pieces of environmental information, including reference environmental information and real-time environmental information.

[0027] The preferred method for calculating noise compensation is a method for calculating structurally propagated sound compensation.

[0028] Preferably, the final step of the method according to the invention is performed in a vehicle.

[0029] The present invention also specifies a computational ultrasonic compensation system having means for performing the steps of the method. The computational ultrasonic compensation system may be part of a driver assistance system for supporting autonomous or semi-autonomous driving of a corresponding autonomous or semi-autonomous vehicle, or part of a driver assistance system for supporting the vehicle driver in various driving situations.

[0030] The present invention also specifies a vehicle having a computational ultrasonic compensation system. This vehicle is preferably a driver-owned vehicle.

[0031] The present invention also specifies a computer program comprising commands that, when executed by a computer, cause the computer to perform the steps of the method. A computer program is a set of instructions for performing a specific task designed to solve a particular class of problems. The instructions of the program are designed to be executed by a computer, wherein the computer must be able to execute the program to function.

[0032] The present invention also specifies a data carrier signal for transmitting computer programs.

[0033] The present invention also provides a computer-readable medium including commands that, when executed by a computer, cause the computer to perform the steps of the method.

[0034] Therefore, the basic concept of this invention is not, for example, to mechanically attenuate vibrations or noise of the wall material, particularly structurally propagated sound, but rather to consider and filter out vibrations as part of a signal processing operation. Temperature-dependent variations in the noise can also be considered during the calculated compensation of the noise. Thus, this method allows for reliable detection using an ultrasonic sensor system, where, for example, an ultrasonic sensor system mounted under the wall material can have a large number of ultrasonic sensors that can detect simultaneously and continuously, thereby achieving continuously accurate detection results. The described method allows for a significant reduction in design and material costs, thus enabling a significant reduction in cost and weight, while the performance of the concealed ultrasonic detection system is comparable to or even improved. This method for compensating for structurally propagated sound can also be used in concealed ultrasonic detection systems, where the corresponding signal generated by the reverberation of the membrane and which can also be interpreted as structurally propagated sound is removed by calculating each measurement. In this case, the membrane is formed, for example, from the wall material. In an unconcealed configuration of the ultrasonic transducer, the quality of detection results at small distances (e.g., close to 10 cm) is improved.

[0035] In principle, pre-stored reference environment information, especially noise signal information, can be obtained. These detections can be performed, for example, by using a sound absorber, such as in a suitably configured sound studio.

[0036] Ultrasound is understood as sound with frequencies above the range of human hearing. Therefore, it preferably includes frequencies starting from 16 kHz. Sounds with frequencies above approximately 1 GHz are also called ultrasound. In contrast, frequencies below the range of human hearing are called infrasound.

[0037] In gases and liquids, ultrasound propagates as longitudinal waves. In solids, it also propagates as transverse waves due to shear stress. The transition of sound from air to solids (or vice versa) can be accomplished, for efficiency reasons, using coupling media with suitable acoustic impedance and specific thickness.

[0038] Depending on the material of the obstacle, ultrasound can be reflected, absorbed, scattered, or transmitted. As with other waves, refraction, diffraction, and interference also occur, resulting in the design of highly sensitive ultrasonic systems.

[0039] Air exhibits damping of ultrasound, which increases strongly with frequency. In contrast, ultrasound propagates with low damping in liquids. However, damping can also often be based on temperature fluctuations and / or humidity variations.

[0040] Therefore, the first step of this method is to detect reference environment information.

[0041] This invention does not require differentiation between single or multiple pieces of information, as doing so does not contribute to the inventive step. Furthermore, the reference environmental information may include only noise signal information and / or airborne sound signal information related to the wall material.

[0042] The wall material used here is the exterior wall of a vehicle, such as body panels, or Gorilla Glass used for sliding roofs.

[0043] Noise signal information refers to signal information that appears in addition to the desired sound detection and may interfere with it. This is the signal information that we want to compensate for.

[0044] Airborne sound signal information refers to ultrasound located outside the wall material.

[0045] Next, the reference environment information is stored. This step can be performed once or repeated according to defined conditions. For this method to be effective, it is important that the reference environment information detected in previous steps is retrieveable at a later time.

[0046] If reference environmental information is stored and made retrievable, then ultrasonic sensors are used to detect real-time environmental information, including noise signal information from the wall material, particularly structurally propagated sound signals and / or airborne sound signals. In this way, other real-time information is detected in addition to the existing reference information. If the distance to the object being detected changes between different detection points in time, this is also detected.

[0047] Finally, a difference signal is generated between multiple environmental information points, including reference and real-time environmental information, using a computational unit. In this way, the reference measurement is subtracted from the subsequent real-time measurement in the time domain. In this case, the reference environmental information can be subtracted from the real-time environmental information, or vice versa. It should be noted that the computational algorithm is uniformly configured.

[0048] Subsequent steps are performed according to existing technology, in other words, as with an externally mounted ultrasonic sensor. For example, a signal is typically used, in this case a difference signal, to check, for example, any event where a threshold is exceeded.

[0049] According to an advantageous embodiment of the invention,

[0050] The wall material of the vehicle has a thickness of at least 0.1 mm.

[0051] According to an advantageous embodiment of the invention,

[0052] The thickness of the vehicle's wall material is at most and includes 3.0 millimeters.

[0053] According to an advantageous embodiment, the invention is characterized by smoothing and / or filtering the difference signal. The difference signal prepared for subsequent calculations enables more reliable or less error-prone detection of the vehicle environment.

[0054] According to an advantageous embodiment of the invention,

[0055] The ultrasonic sensor operates at frequencies ranging from at least 40 kHz to 80 kHz. It has been found that noise, particularly structure-borne sound, within this frequency range can be easily compensated for, enabling reliable or error-free detection of the vehicle environment.

[0056] According to an advantageous embodiment of the invention,

[0057] Based on the raw data, the envelope, and / or another filtered received signal, such as the correlation with the transmitted signal from an ultrasonic sensor, a difference signal is formed between multiple pieces of environmental information. The raw data only requires reduced computational power, thereby accelerating data utilization.

[0058] According to an advantageous embodiment of the invention,

[0059] The detection of reference environment information is repeated at defined time intervals. In principle, any detected reference environment information may also include detected objects. To enable the most reliable and accurate detection, in one embodiment, the detection of reference environment information is performed at regular time intervals.

[0060] According to the advantageous embodiments of the above embodiments,

[0061] The defined time interval is less than one minute. The preferred time interval for enabling the most reliable and accurate detection is, in particular, at least 10 milliseconds.

[0062] According to an advantageous embodiment of the invention,

[0063] The detection of reference environment information is repeated in an event-based manner. This means that the detection of reference environment information is initiated as an external factor of an event. This reduces the number of computational operations.

[0064] According to the advantageous embodiments of the above embodiments,

[0065] The reference environment information is repeatedly detected in an event-based manner, with temperature and / or humidity changes triggering repeated detection. It has been found that if the changes exceed defined ranges for temperature and / or humidity, these effects as events are suitable for repeated new detections, enabling reliable detection.

[0066] According to an advantageous embodiment of the invention,

[0067] If an object changes its position relative to the vehicle or the corresponding ultrasonic transducer, the signal component of at least one object detected using airborne sound signal information from the reference environment generates a negative signal in the difference signal. This configuration allows for the acquisition of more data, which can be used to improve the accuracy and reliability of the detection results. In particular, the negative signal or object can be captured based on amplitude and / or phase changes.

[0068] According to the advantageous embodiments of the above embodiments,

[0069] The negative signal is used inversely as a positive signal in real-time environmental information for object tracking. The negative signal can be used to track objects based on its feature data, serving as a positive signal relative to a previously known reference signal.

[0070] According to an advantageous embodiment of the invention,

[0071] The computing unit is a dedicated circuit integrated into the ultrasonic sensor system. This allows for reliable data processing within a cost-effective structural unit. Application-Specific Integrated Circuits (ASICs) are electronic circuits implemented in the form of integrated circuits. Therefore, the functionality of an ASIC is no longer variable, but it has lower production costs and higher initial costs.

[0072] According to an advantageous embodiment of the invention, the described computational sound compensation method is also used in conjunction with an unhidden ultrasonic transducer to achieve potentially improved object detection at close range of the ultrasonic transducer by calculating the signal generated by the reverberation of the wall material for each measurement. The wall material is in the form of a membrane and can also be interpreted as structure propagating sound.

[0073] According to an advantageous embodiment of the invention,

[0074] This method is used to calculate structure-propagated sound compensation, and the noise signal information is the structure-propagated sound signal information. The structure-propagated sound signal information is a type of noise signal information, where the structure-propagated sound detected by the ultrasonic sensor is considered the structure-propagated sound signal information, corresponding to the vibration of the wall material. This application is particularly suitable for ultrasonic transducers installed in a concealed manner, such as those mounted on vehicles.

[0075] According to an advantageous embodiment of the invention, the described computational sound compensation method is applied in conjunction with concealed and / or unconcealed ultrasonic transducers to selectively block single or multiple unwanted airborne sound signals from the surrounding environment, such as those from trailer hitches or bicycle frames, and also to detect very subtle changes in the echo scene of the environment, which can be complex in some cases, such as for detecting objects under a vehicle using ultrasonic transducers located in the underside area of ​​the vehicle, and / or for detecting any changes in the structural propagation sound pattern, such as due to changes in temperature, contamination, deformation, and / or damage. Damage can be considered, for example, a damaged glass pane. Here, at least one ultrasonic transducer can be attached to the glass pane and its structural propagation sound can be measured. If the glass pane is broken, the detected structural propagation signal will change, meaning that damage to the glass can be inferred. As a result, the noise signal that remains unchanged compared to the initial noise signal serves as the signal of the unbroken glass pane.

[0076] The invention will now be explained in more detail with reference to the accompanying drawings and based on preferred embodiments. The illustrated features may individually or in combination represent one aspect of the invention. Features of different exemplary embodiments may be transferred from one exemplary embodiment to another. Attached Figure Description

[0077] In the attached diagram:

[0078] Figure 1 A schematic diagram of an ultrasonic sensor system according to a preferred embodiment of the present invention is shown.

[0079] Figure 2 A flowchart illustrating a computational noise compensation method for a concealed ultrasonic sensor system is shown, along with...

[0080] Figure 3 An exemplary time-domain signal is shown for a computational noise compensation method for an ultrasonic sensor system for installation. Detailed Implementation

[0081] Figure 1 An ultrasonic sensor system 1, concealed in its mounting manner, is shown. The ultrasonic sensor 5 is disposed on the wall material 2 of a vehicle and is used to detect noise signal information 3, particularly structure-propagated sound signal information and airborne sound signal information 4. As part of a particular preferred exemplary embodiment, it will be assumed below that the noise signal information 3 is structure-propagated sound signal information. The invention is not limited to the concealed ultrasonic sensor 5, although these are used in the exemplary embodiments as examples to solve specific problems.

[0082] Hidden installation means that the ultrasonic sensor system 1 includes a transmitter and / or receiver inside the vehicle, making it visually invisible from the outside.

[0083] The processing of structure-propagated sound signal information and air-propagated sound signal information 4 is carried out in the computing unit 6.

[0084] exist Figure 1 No objects were detected. However, according to... Figure 3 Such an object exists in ultrasound images of types a, 3c, and 3d.

[0085] Figure 2 A flowchart is shown for a method of calculating noise or structurally propagated sound compensation for an ultrasonic sensor system 1 installed in a concealed manner, particularly for a vehicle with wall material 2. The method includes at least the following steps:

[0086] The ultrasonic sensor 5 of the ultrasonic sensor system 1 detects reference environmental information 100, which includes noise signal information or structurally propagated sound signal information 3 and / or airborne sound signal information 4 related to the wall material 2.

[0087] Store reference environment information 200;

[0088] The ultrasonic sensor 5 is used to detect real-time environmental information 300, which includes noise signal information related to the wall material 2 or structurally propagated sound signal information 3 and / or airborne sound signal information 4; and

[0089] The computing unit 6 is used to generate a difference signal between multiple pieces of environmental information 400, including reference environmental information and real-time environmental information.

[0090] according to Figure 1 Advantageous embodiments,

[0091] The computing unit 6 is a dedicated circuit integrated into the ultrasonic sensor system 1.

[0092] Figure 3 a illustrates the transmission and reception of signals from an unhidden ultrasonic sensor system 1 or an unhidden ultrasonic sensor 5, as known in the prior art. Here, the object from which the airborne sound signal information 4 is emitted is arranged in the detection area. Because the ultrasonic sensor 5 is unhidden, it does not detect noise or structure-borne sound signal information 3.

[0093] Figure 3b illustrates the transmission and reception of signals by a concealed ultrasonic sensor system 1 or a concealed ultrasonic sensor 5 according to a preferred embodiment of the present invention. In this case, no object is arranged in the detection area, meaning that the airborne sound signal information 4 does not generate signal spikes. Because the ultrasonic sensor 5 is concealed, it detects noise or structure-borne sound signal information 3. Therefore, the detection of reference environment information 100 is performed in the absence of objects.

[0094] Figure 3 c illustrates the transmission and reception signals of the concealed ultrasonic sensor system 1 or the concealed ultrasonic sensor 5 according to a preferred embodiment of the present invention. In this case, with Figure 3 Unlike point b, where the object is positioned within the detection area, this means that the airborne sound signal information 4 generates signal spikes. Because the ultrasonic sensor 5 is concealed, it also detects noise or structurally propagated sound signal information 3. However, these are superimposed, meaning the object may not be identifiable from this detection alone. In other words, the signal associated with the object is overshadowed by signals associated with structurally propagated sound or wall materials.

[0095] Figure 3 d illustrates the difference signal between the reference environmental information and the real-time environmental information 400 in a simplified schematic manner.

[0096] If a reference measurement is performed while the object is within the detection area, the object becomes visible in the difference signal once it changes its position relative to the ultrasonic transducer. In this case, it is sufficient if the object changes its position relative to the ultrasonic transducer even within the sub-millimeter range.

[0097] According to an advantageous embodiment of the invention,

[0098] The wall material 2 of the vehicle has a material thickness of at least 0.1 mm. According to an embodiment, it is also preferred that...

[0099] The wall material 2 of the vehicle has a thickness of at most and including 3.0 mm. Sound propagation within this range occurs in the structure. Figure 3 Example is shown in b.

[0100] According to an advantageous embodiment of the invention,

[0101] Smooth and / or filter the difference signals.

[0102] According to an advantageous embodiment of the invention,

[0103] The ultrasonic sensor 5 operates at a frequency ranging from at least 40 kHz to 80 kHz. Ultrasonic detection at such frequencies generates sound signals, such as… Figure 3 Examples are shown in a and 3d.

[0104] According to an advantageous embodiment of the invention,

[0105] Based on the raw data, the envelope, and / or another filtered received signal, such as the correlation with the transmitted signal of the ultrasonic sensor 5, a difference signal is formed between multiple environmental information 400. Figure 3 The envelope is illustrated symbolically. This means that ultrasonic signals are represented and processed through an envelope.

[0106] According to an advantageous embodiment of the invention,

[0107] Repeatedly detect reference environment information 100 at defined time intervals.

[0108] According to an advantageous embodiment of the foregoing embodiments, the defined time interval is less than one minute, particularly at least 10 milliseconds.

[0109] According to an advantageous embodiment of the invention,

[0110] Repeatedly detect reference environment information 100 in an event-based manner.

[0111] According to an advantageous embodiment of the foregoing embodiments, the reference environment information 100 is repeatedly detected in an event-based manner, such that temperature changes and / or humidity changes trigger repeated detection of the reference environment information 100.

[0112] According to an advantageous embodiment of the invention,

[0113] If the object changes position relative to the vehicle or relative to the corresponding ultrasonic transducer, the signal component of at least one object detected by means of the airborne sound signal information 4 in the reference environmental information generates a negative signal in the difference signal.

[0114] According to an advantageous embodiment of the foregoing embodiments, the negative signal is reversed and used as a positive signal in real-time environmental information for object tracking.

[0115] List of reference numerals

[0116] 1. Ultrasonic sensor system

[0117] 2. Vehicle wall materials

[0118] 3. Noise signal information

[0119] 4. Sound signal information transmitted through the air

[0120] 5. Ultrasonic Sensor

[0121] 6. Calculation Unit

[0122] 100 Testing Reference Environment Information

[0123] 200 Storage Reference Environment Information

[0124] 300 Real-time Environmental Information Detection

[0125] 400 forms differential signals between multiple environmental information sources.

Claims

1. A computational noise compensation method for an ultrasonic sensor system (1) installed in a concealed or unconcealed manner, for a vehicle having a wall material (2), comprising the following steps: -Using the ultrasonic sensor (5) of the ultrasonic sensor system (1), the ultrasonic sensor detects reference environmental information (100), which includes noise signal information (3) related to the wall material (2) and / or airborne sound signal information (4); - Store reference environment information (200); -Using an ultrasonic sensor (5) to detect real-time environmental information (300), which includes noise signal information (3) related to the wall material (2) and / or airborne sound signal information (4); and - The computing unit (6) is used to form a difference signal between multiple pieces of environmental information (400) in the reference environmental information and the real-time environmental information. in, Repeatedly detect reference environment information in an event-based manner, and If an object changes its position based on the difference signal, a negative signal is generated by the signal component of at least one object detected by means of the airborne sound signal information (4) in the reference environment information.

2. The method for calculating noise compensation according to claim 1, characterized in that, The wall material (2) of the vehicle has a material thickness of at least 0.1 mm.

3. The method for calculating noise compensation according to claim 1 or 2, characterized in that, The thickness of the wall material (2) of the vehicle is at most and includes 3.0 mm.

4. The method for calculating noise compensation according to claim 1 or 2, characterized in that, Smooth and / or filter the difference signals.

5. The method for calculating noise compensation according to claim 1 or 2, characterized in that, The frequency of the ultrasonic sensor (5) is from at least 40 kHz to 80 kHz.

6. The method for calculating noise compensation according to claim 1 or 2, characterized in that, Based on the raw data, envelope, and / or another filtered received signal, a difference signal is formed between multiple environmental information (400).

7. The method for calculating noise compensation according to claim 1 or 2, characterized in that, Based on the correlation with the transmitted signal of the ultrasonic sensor (5), a difference signal is formed between multiple environmental information (400).

8. The method for calculating noise compensation according to claim 1 or 2, characterized in that, The detection of reference environment information (100) is repeated at defined time intervals.

9. The method for calculating noise compensation according to claim 8, characterized in that, The defined time interval is less than one minute and at least 10 milliseconds.

10. The method for calculating noise compensation according to claim 1 or 2, characterized in that, The reference environment information (100) is repeatedly detected in an event-based manner, such that temperature changes and / or humidity changes trigger repeated detection of the reference environment information (100).

11. The method for calculating noise compensation according to claim 1, characterized in that, The negative signal is reversed and used as a positive signal in real-time environmental information for object tracking.

12. The method for calculating noise compensation according to claim 1 or 2, characterized in that, The computing unit (6) is a dedicated circuit integrated into the ultrasonic sensor system (1).

13. The method for calculating noise compensation according to claim 1 or 2, characterized in that, This method is used to calculate the structure-propagated sound compensation, and the noise signal information (3) is the structure-propagated sound signal information.

14. A computational ultrasonic compensation system having computational noise compensation means for a concealed ultrasonic sensor system for performing the steps of the method according to any one of claims 1 to 13.

15. A vehicle having a computational ultrasonic compensation system according to claim 14.

16. A computer program product comprising an instruction that, when executed by a computer, causes the computer to perform the method according to any one of claims 1 to 13.

17. A computer-readable medium comprising commands that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 13.

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