Method of initializing an ultrasonic monitoring system comprising a plurality of ultrasonic sensors and ultrasonic monitoring system comprising a plurality of ultrasonic sensors

Abstract

The invention relates to a method for initializing an ultrasonic monitoring system (1) of a vehicle, comprising a plurality of ultrasonic sensors (12, 14) arranged in a cascade (10), wherein the ultrasonic sensors (12, 14) comprise a supply voltage connector (16) for connection to a DC supply line (18), a ground connector (20) for connection to ground (22), an input communication line connector (24) connected to a first section (26) of a communication line (28), in particular for monitoring reception of signals during initialization, and an output communication line connector (30) connected to a second section (32) of the communication line (28), in particular for transmission of signals during initialization, and a connection unit (36) for interconnecting the input communication line connector (24) and the output communication line connector (30).

Description

Technical Field

[0001] The present invention relates to a method for initializing an ultrasonic monitoring system for a vehicle, the ultrasonic monitoring system comprising a plurality of ultrasonic sensors arranged in cascade, wherein the ultrasonic sensors include a power supply voltage connector for connection to a DC power supply line, a grounding connector for connection to ground, an input communication line connector for connection to a first segment of a communication line, particularly for monitoring signal reception during initialization, an output communication line connector for connection to a second segment of the communication line, particularly for transmitting signals during initialization, and a connection unit for interconnecting the input communication line connector and the output communication line connector.

[0002] The present invention also relates to an ultrasonic monitoring system for a vehicle, comprising a plurality of ultrasonic sensors arranged in cascade, wherein each of the plurality of ultrasonic sensors includes a power supply voltage connector for connection to a DC power supply line, a grounding connector for connection to ground, an input communication line connector for connection to a first segment of a communication line, particularly for monitoring signal reception during initialization, an output communication line connector for connection to a second segment of the communication line, particularly for transmitting signals during initialization, and a connection unit for interconnecting the input communication line connector and the output communication line connector, wherein the ultrasonic monitoring system is adapted to perform the above-described method. Background Technology

[0003] Ultrasonic sensors are widely used in state-of-the-art vehicles. They emit ultrasonic pulses into the vehicle's environment and receive reflections of these pulses from any kind of object in the vicinity. The reflections are processed to determine the distance to these objects, or even further information about the vehicle's surroundings.

[0004] An ultrasonic monitoring system includes multiple ultrasonic sensors, which are arranged, for example, along the front or rear of the vehicle. Therefore, an ultrasonic monitoring system can be used, for example, to employ parking assistance functions. In the case of parking assistance, an output is generated based on the distance to surrounding objects.

[0005] To provide this output, the ultrasonic monitoring system may include a central processing unit connected to each ultrasonic sensor and receiving sensor information about surrounding objects. The sensor information may include raw data, such as data about the reflection of ultrasonic pulses emitted by the ultrasonic sensors. Alternatively, the sensor information may include processed information based on the raw data, such as information about the nearest object within the range of each ultrasonic sensor. This sensor information is typically processed to produce an output. This output may be visual output, such as displayed on a screen in the vehicle, and / or acoustic output, such as sound pulses, particularly sound pulses of different frequencies, generated using, for example, the vehicle's speakers or speaker system.

[0006] In either case, the correct setup of the ultrasonic sensor and its connection to the processing unit are crucial. This significantly impacts the installation of the ultrasonic sensor, such as the correct physical connection between the ultrasonic sensor and the processing unit, and / or the correct logical assignment between the ultrasonic sensor and the processing unit. Correct logical assignment is especially important when the ultrasonic sensor is connected to the processing unit via a communication bus used by multiple devices. This bus can be dedicated to the ultrasonic monitoring system, making it used only by the corresponding ultrasonic sensor, or it can be a general-purpose bus used by other devices in the vehicle independent of the ultrasonic monitoring system. Summary of the Invention

[0007] One object of the present invention is to provide a method for initializing an ultrasonic monitoring system for a vehicle comprising a plurality of ultrasonic sensors arranged in a cascaded manner, and an ultrasonic monitoring system employing such a method, which enables the simple installation of ultrasonic sensors in the ultrasonic monitoring system and the simple formation of an ultrasonic monitoring system employing a plurality of ultrasonic sensors.

[0008] This objective is achieved through the independent claims. Advantageous embodiments are given in the dependent claims.

[0009] Specifically, the present invention provides a method for initializing an ultrasonic monitoring system for a vehicle comprising a plurality of cascaded ultrasonic sensors, wherein the ultrasonic sensors include a power supply voltage connector for connecting to a DC power supply line, a grounding connector for connecting to ground, an input communication line connector for connecting to a first segment of a communication line, particularly for monitoring signal reception during initialization, an output communication line connector for connecting to a second segment of the communication line, particularly for transmitting signals during initialization, and a connection unit for interconnecting the input and output communication line connectors. The method includes the following steps: providing an initialization signal, acting as a master sensor, to a first ultrasonic sensor in the cascaded ultrasonic sensor configuration; the first ultrasonic sensor in the cascaded ultrasonic sensor configuration acting as the master sensor... Sensor initialization is performed based on the initialization message from the ultrasonic sensor initialized as the master sensor. This involves initializing subsequent ultrasonic sensors in the ultrasonic sensor cascade as slave sensors. Specifically, the connection unit is initialized to interconnect the input and output communication line connectors of each ultrasonic sensor in the slave sensor cascade. The process verifies whether each subsequent ultrasonic sensor in the ultrasonic sensor cascade is the final ultrasonic sensor in the cascade. This process is repeated until the final ultrasonic sensor in the cascade is indeed the final ultrasonic sensor in the cascade.

[0010] The present invention also provides an ultrasonic monitoring system for a vehicle, comprising a plurality of ultrasonic sensors arranged in cascade, wherein each of the plurality of ultrasonic sensors includes a power supply voltage connector for connection to a DC power supply line, a grounding connector for connection to ground, an input communication line connector for connection to a first segment of a communication line, particularly for monitoring signal reception during initialization, an output communication line connector for connection to a second segment of the communication line, particularly for transmitting signals during initialization, and a connection unit for interconnecting the input communication line connector and the output communication line connector, wherein the ultrasonic monitoring system is adapted to perform the above-described method.

[0011] The basic idea of ​​this invention is based on initializing one ultrasonic sensor as the master sensor, performing a simple initialization of all ultrasonic sensors in the ultrasonic monitoring system, and then initializing all subsequent cascaded ultrasonic sensors as slave sensors. This provides the ultrasonic monitoring system with a high degree of autonomy and flexibility. It is not necessary to provide the ultrasonic monitoring system with a given number of ultrasonic sensors, because initialization can be handled independently of the number of ultrasonic sensors in the cascade. Furthermore, it is not necessary to assign positions to specific ultrasonic sensors. This assignment is implicitly given by the position of the ultrasonic sensor in the cascade determined during initialization. Since the master sensor initiates the initialization of subsequent ultrasonic sensors as slave sensors in the same way, the entire method can be easily executed. Because each ultrasonic sensor initialized as a slave sensor interconnects its input communication line connector and its output communication line connector only as part of its respective initialization, it is guaranteed that only the corresponding subsequent ultrasonic sensor, i.e., the next ultrasonic sensor initialized as a slave sensor, receives the initialization message and performs the initialization. Therefore, even if the ultrasonic sensors are not initialized at the beginning of the method, the initialization of the entire ultrasonic monitoring system can be reliably performed. Furthermore, because each ultrasonic sensor is individually powered, it offers a high degree of design freedom for ultrasonic monitoring systems, allowing, for example, any desired number of ultrasonic sensors to be combined in the system. Power handling is independent of initialization as a master or slave sensor.

[0012] Preferably, the ultrasonic sensors in the ultrasonic monitoring system have identical functions. Therefore, based solely on initialization, each ultrasonic sensor can act as either a master or slave sensor. Each ultrasonic sensor can be used anywhere in a cascade of ultrasonic sensors. The statement "functionally identical" refers to ultrasonic sensors with the same hardware and software design. However, this includes cases where ultrasonic sensors have, for example, different software versions but provide the same functionality.

[0013] To form a cascade of ultrasonic sensors, the output communication line connector of each ultrasonic sensor is connected to the subsequent ultrasonic sensor via a section of the communication line to form a cascade.

[0014] Ultrasonic monitoring systems benefit from the design of ultrasonic sensors because they are easy to maintain and repair. In the event of a sensor failure, any ultrasonic sensor of a single type can be used to replace any other ultrasonic sensor. Therefore, there is no need to store different types of ultrasonic sensors, and each ultrasonic sensor can be provided at minimal cost. Once initialized, the ultrasonic monitoring system includes one ultrasonic sensor initialized as the primary sensor and at least one ultrasonic sensor initialized as the primary sensor, providing complete autonomy in its use within a vehicle. Furthermore, the cost of the ultrasonic monitoring system is quite low because no additional processing equipment is required. Moreover, it does not require costly integration into other electronic systems of the vehicle. Additionally, the ultrasonic monitoring system is highly flexible because each ultrasonic sensor is self-powered.

[0015] Any number of ultrasonic monitoring systems can be used in a vehicle. Therefore, an ultrasonic monitoring system can have ultrasonic sensors located at the front of the vehicle, and / or an ultrasonic monitoring system can have ultrasonic sensors located at the rear of the vehicle, particularly integrated into the corresponding front and / or rear bumpers. Thus, ultrasonic monitoring systems can be used, for example, for parking assistance functions. In the case of parking assistance, an output is generated based on the distance to surrounding objects.

[0016] Each ultrasonic sensor performs ultrasonic measurements to determine information about the environment around the vehicle. The ultrasonic sensor emits ultrasonic pulses or sequences of ultrasonic pulses into the vehicle's environment and receives reflections of these pulses from any kind of object in the vicinity. The reflections are processed to determine the distance to these objects, or even further information about the vehicle's surroundings.

[0017] The ultrasonic sensors in the ultrasonic monitoring system are arranged in a cascade configuration. This cascading is also known in the art as a daisy chain. Each ultrasonic sensor is connected to a preceding ultrasonic sensor and / or a following ultrasonic sensor, depending on its position in the cascade.

[0018] The power supply voltage connector connects the corresponding ultrasonic sensor to the DC power supply line. The DC power supply line can provide permanent DC power, for example, when the vehicle is started, or it can provide DC power only when the ultrasonic monitoring system is to be used. In the latter case, the ultrasonic monitoring system is typically powered off and powered on when in use. The DC power supply line can be powered, for example, by the vehicle battery voltage level, typically 12V, 24V, or 48V. Higher battery voltage levels, such as up to 96V, may also be used in the future.

[0019] The grounding connector connects the ultrasonic sensor to ground, preferably the vehicle's common ground. Therefore, power can be supplied using a single wire from a DC power supply line. Grounding is typically provided by, for example, the vehicle chassis, without requiring wiring.

[0020] The input and output communication line connectors can be single-wire connectors, which is sufficient for single-wire communication lines. In other cases, the input and output communication line connectors can be multi-wire connectors.

[0021] The first segment of the communication line is a portion of the communication line directed towards the ultrasonic sensor that is being initialized as the master sensor. The second segment of the communication line is a portion of the communication line directed away from the ultrasonic sensor that is being initialized as the master sensor. The second segment of the communication line for a specific ultrasonic sensor corresponds to the first segment of the communication line for the subsequent ultrasonic sensor. Therefore, if no initialization as the master sensor is triggered, the ultrasonic sensor can simply wait to receive an initialization message at the input communication line connector.

[0022] The connection unit for interconnecting the input and output communication line connectors can be, for example, a switch that closes to interconnect the input and output communication line connectors within the ultrasonic sensor. However, the connection unit preferably includes a pair of code converters. One code converter is connected to the input communication line connector, and the other is connected to the output communication line connector. Each code converter decodes messages received at its respective connector and encodes messages to be transmitted via its respective connector. Communication between the two code converters is enabled when the interconnection between them is activated. The interconnection of the input and output communication line connectors within the ultrasonic sensor establishes the communication line for the ultrasonic monitoring system.

[0023] The input and output communication line connectors are for bidirectional communication between the ultrasonic sensor and the preceding or following ultrasonic sensor, respectively. However, during the operation of the ultrasonic monitoring system, it is sufficient to perform communication downwards from the main sensor along the cascaded direction of the ultrasonic sensors.

[0024] The initialization signal can be any suitable signal of any kind to initiate the initialization of the corresponding ultrasonic sensor of the master sensor being initialized. No further information is required besides the initialization signal itself. The initialization signal can be received at any input connector of the individual ultrasonic sensors, including connectors suitable for both input and output, i.e., bidirectional connectors. The initialization signal can be a logic voltage level or an initialization message encoded according to an encoding standard used for communication over communication lines.

[0025] The ultrasonic sensor initialized as the master sensor performs the management tasks of the ultrasonic monitoring system. This enables all ultrasonic sensors in the ultrasonic monitoring system to operate reliably together. Furthermore, the master sensor can receive and process sensor information from other ultrasonic sensors, i.e., from ultrasonic sensors initialized as slave sensors. Sensor information may include raw data, such as data about the reflection of ultrasonic pulses emitted by the ultrasonic sensors. Alternatively, sensor information may include information based on the processing of raw data by each ultrasonic sensor, such as information about the nearest object within the range of each ultrasonic sensor. The ultrasonic sensor initialized as the master sensor can also transmit sensor information corresponding to the sensor input via communication lines, particularly via output communication line connectors.

[0026] The ultrasonic sensor, initialized as a slave sensor, transmits sensor information corresponding to the inputs of each sensor via a communication line. Each sensor information is transmitted as a message encoded according to a coding standard used for communication on the communication line. Sensor information from the ultrasonic sensor initialized as a slave sensor can be transmitted via an input communication line connector or via an output communication line connector. Typically, sensor information is transmitted downstream from the first ultrasonic sensor in a cascade to the last ultrasonic sensor in the cascade.

[0027] The ultrasonic sensor in an ultrasonic monitoring system may include at least one additional connector, particularly as a universal input and / or output connector. The additional connector can generally be any type of input and / or output connector. Therefore, the ultrasonic sensor can receive and / or transmit additional information or signals. The additional connector can provide and / or receive logic voltage levels, for example, to indicate activity. The additional connector can be configured differently, for example, regarding vibration, which is relevant when a switch is connected to the additional connector as an input connector. The universal input and / or output connector allows for a high degree of freedom in connecting the ultrasonic sensor to a small number of additional connectors. In particular, the ultrasonic sensor, and more particularly, the ultrasonic sensor initialized as the main sensor, can receive a corresponding initialization signal via the additional connector. Therefore, the ultrasonic sensor is adapted to perform initialization as the main sensor upon receiving an initialization signal via at least one of the additional connectors. Therefore, the input communication line connector, particularly the input communication line connector of the ultrasonic sensor initialized as the main sensor, may be unused, allowing each ultrasonic sensor to be connected to the monitoring and control device at its input communication line connector.

[0028] The ultrasonic monitoring system is preferably provided to perform communication via a communication line according to the LIN (Local Interconnect Network) standard. Therefore, the input and output communication line connectors of the ultrasonic sensor are provided as LIN bus connectors for connection to the LIN bus, which serves as the communication line. LIN (Local Interconnect Network) is a serial network protocol used for communication between vehicle components. It is a simple protocol and easy to implement. LIN can be implemented with a single wire.

[0029] According to a modified embodiment of the invention, providing an initialization signal as the master sensor to a first ultrasonic sensor in a cascade of ultrasonic sensors includes an input communication line connector that provides an initialization signal from a supervisory control device to the first ultrasonic sensor. The initialization signal from the supervisory control device (e.g., a LIN node) can be a simple voltage level or an initialization message sent from the supervisory control device. The supervisory control device, for example, transmits the initialization signal to the cascaded first ultrasonic sensor upon power-up, which becomes the master sensor. The ultrasonic sensor initialized as the master sensor then initiates the initialization of other ultrasonic sensors as slave sensors via the connection line.

[0030] According to a modified embodiment of the invention, the initialization signal provided as the master sensor to the first ultrasonic sensor in the ultrasonic sensor cascade includes, at the input connector of the first ultrasonic sensor, particularly at the input communication line connector of the first ultrasonic sensor, the initialization signal being provided as a logic voltage level. The logic voltage level as the initialization signal is preferably a high voltage level. This is a very simple way to initiate the initialization of the corresponding ultrasonic sensor that is being initialized as the master sensor. This is especially important when the ultrasonic monitoring system is a standalone ultrasonic monitoring system, i.e., when the cascade of ultrasonic sensors is not connected to a LIN node. In this case, the logic voltage level can be easily provided, for example, from the vehicle's power supply voltage. The logic voltage level can generally be provided to any suitable connector of the ultrasonic sensor suitable for detecting the logic voltage level, such as an input communication line connector or a universal input and / or output connector.

[0031] Preferably, the ultrasonic monitoring system includes a switching device, particularly a reverse gear switch that operates when the vehicle is in reverse driving mode and / or a user-operated switching device. In either case, the switching device is connected between a DC power supply line and the input connector of a first ultrasonic sensor cascaded with ultrasonic sensors. Thus, the ultrasonic sensor, initialized as the primary sensor, receives the voltage level of the DC power supply line as an initialization signal. The switching device can be coupled to the vehicle's direction of travel, thereby activating the ultrasonic monitoring system, for example, when the vehicle is in reverse operation. In vehicles with a transmission, the switching device can be coupled to the operation of the transmission, i.e., coupled to the activation of reverse gear. Reverse gear can be activated manually or automatically. When reverse gear is manually activated, preferably, the corresponding input connector can handle a long contact bounce. Alternatively or additionally, the user-operated switching device can provide the voltage level of the DC power supply line as an initialization signal, causing the ultrasonic monitoring system to be activated according to the needs of the vehicle user, for example, independently of reverse gear activation. User-operated switching devices typically require a corresponding input connector capable of handling a shorter contact bounce than a manually activated switching device coupled to reverse gear. Contact bounce, also known as chattering, is a common problem in mechanical switches, caused by the electrical contact resistance (ECR) phenomenon at the interface. Switch contacts are typically made of a flexible metal. When the contacts collide, their momentum and elasticity work together to cause them to bounce off one or more times before achieving stable contact. The result is a rapid pulse of current, rather than a clear transition from zero to full current.

[0032] According to a modified embodiment of the present invention, the step of initializing subsequent ultrasonic sensors in a cascade of ultrasonic sensors as slave sensors, based on an initialization message from the ultrasonic sensor being initialized as the master sensor, includes the following steps: transmitting an initialization message from the output communication line connector of the ultrasonic sensor being initialized as the master sensor to the input communication line connectors of each subsequent ultrasonic sensor in the cascade of ultrasonic sensors; and transmitting an initialization response from the input communication line connectors of each subsequent ultrasonic sensor in the cascade of ultrasonic sensors to the output communication line connector of the ultrasonic sensor being initialized as the master sensor. Therefore, the initialization of the ultrasonic sensors as slave sensors is based on bidirectional communication between the ultrasonic sensors. This enables reliable initialization of all ultrasonic sensors, thereby initializing the entire ultrasonic monitoring system.

[0033] According to a modified embodiment of the invention, the method includes the additional steps of: assigning a preset address to each ultrasonic sensor in a cascade of ultrasonic sensors, particularly when the ultrasonic sensors in the cascade are powered on, and performing initialization of subsequent ultrasonic sensors in the cascade as slave sensors based on an initialization message from the ultrasonic sensor initialized as the master sensor, including assigning a unique address to each subsequent ultrasonic sensor in the cascade. The preset address can be configured during the power-on of each ultrasonic sensor, for example, a default address. This address can be an address reserved for ultrasonic sensors that have not yet been initialized. Therefore, each ultrasonic sensor with this address knows that it must wait for initialization, either as a master sensor or as a slave sensor. This unique address can be provided to each subsequent ultrasonic sensor during initialization. The ultrasonic sensor initialized as the master sensor can retain the preset address as the master sensor address. Alternatively, a unique address is also assigned to the ultrasonic sensor initialized as the master sensor.

[0034] According to a modified embodiment of the invention, the step of assigning a unique address to each subsequent ultrasonic sensor in a cascade of ultrasonic sensors includes transmitting the unique address from the ultrasonic sensor initialized as the master sensor to each subsequent ultrasonic sensor in the cascade. Therefore, the ultrasonic sensor initialized as the master sensor has complete control over the allocation of the unique address to the ultrasonic sensors initialized as slave sensors. This unique address may have already been allocated along with an initialization message, or may be allocated subsequently in another message.

[0035] According to a modified embodiment of the invention, the step of assigning unique addresses to each subsequent ultrasonic sensor in a cascaded ultrasonic sensor configuration includes assigning addresses within each subsequent ultrasonic sensor upon receiving an initialization message. Therefore, each ultrasonic sensor initialized as a slave sensor defines its unique address based on its respective initialization message. This unique address can be a random address taken from a sufficiently large address space. Alternatively, each ultrasonic sensor is already equipped with a unique address and uses that address. Furthermore, the unique address can be derived from any information included in the initialization message. Additionally, the unique address can be verified by the ultrasonic sensor initialized as the master sensor for possible conflicts.

[0036] According to a modified embodiment of the present invention, transmitting an initialization message as a slave sensor from the output communication line connector of an ultrasonic sensor initialized as a master sensor to the input communication line connectors of each subsequent ultrasonic sensor in a cascaded ultrasonic sensor configuration includes: transmitting the initialization message as a slave sensor through at least one ultrasonic sensor already initialized as a slave sensor in the cascaded ultrasonic sensor configuration, and transmitting an initialization response from the input communication line connectors of each subsequent ultrasonic sensor in the cascaded ultrasonic sensor configuration to the output communication line connector of the master sensor, wherein the initialization response is transmitted through at least one ultrasonic sensor in the cascaded ultrasonic sensor configuration, at least one ultrasonic sensor already initialized as a slave sensor. Therefore, after initialization, all ultrasonic sensors initialized as slave sensors forward messages not directed to them in both directions, i.e., from the input communication line connector to the output communication line connector or from the output communication line connector to the input communication line connector. This refers to the initialization and normal operation of the ultrasonic monitoring system.

[0037] According to a modified embodiment of the present invention, verifying whether each subsequent ultrasonic sensor in a cascaded ultrasonic sensor is the last ultrasonic sensor in the cascade includes verifying the connection between the output device and each subsequent ultrasonic sensor in the cascade, particularly verifying the connection between the output device and the output communication line connector of each subsequent ultrasonic sensor. Therefore, as part of its initialization, each subsequent ultrasonic sensor determines its existing connection with the output device, enabling it to report this information to the ultrasonic sensor initialized as the master sensor in its initialization response. When a subsequent ultrasonic sensor currently initialized as a slave sensor determines that the output device is connected, it includes this information in its response to the ultrasonic sensor initialized as the master sensor. Therefore, the ultrasonic sensor initialized as the master sensor directly knows that no other ultrasonic sensors are connected and stops initialization. The detection of the output device directly indicates that the ultrasonic sensor currently initialized as a slave sensor is the last ultrasonic sensor in the cascade. Furthermore, each subsequent ultrasonic sensor currently initialized as a slave sensor also knows the connection of the output device, enabling it to use the output device without further configuration. The determination of the existing connection to the output device can be performed, for example, by applying a test voltage level to the corresponding output connector to verify its impedance, particularly to the output communication line connector. If the test voltage level remains constant, the corresponding output connector is no longer connected. Otherwise, if the voltage level exhibits a characteristic voltage drop, this indicates a connection to the output device. The output device is preferably a piezoelectric buzzer.

[0038] According to a modified embodiment of the present invention, verifying whether each subsequent ultrasonic sensor in a cascaded ultrasonic sensor system is the last ultrasonic sensor in the cascade includes applying a timeout to the initialization response to the initialization message. Therefore, the ultrasonic sensor initialized as the master sensor completely controls the initialization of the other ultrasonic sensors, thereby controlling the initialization of the entire ultrasonic monitoring system. When the ultrasonic sensor initialized as the master sensor determines that no other ultrasonic sensor has responded to its initialization message, it is assumed that all cascaded ultrasonic sensors have been initialized, and therefore no further initialization is required.

[0039] According to a modified embodiment of the invention, the method includes an additional step of determining the number of ultrasonic sensors initialized as slave sensors to an ultrasonic sensor initialized as a master sensor, based on the number of initializations of subsequent ultrasonic sensors initialized as slave sensors in a cascade of ultrasonic sensors. Depending on the details of the initialization process, the ultrasonic sensor initialized as a master sensor may determine this information in different ways. For example, the ultrasonic sensor initialized as a master sensor may simply count the number of responses received from subsequent ultrasonic sensors when those sensors are initialized as slave sensors. However, other methods of determining the number of ultrasonic sensors initialized as slave sensors may also be performed.

[0040] According to a modified embodiment of the invention, the method includes the additional step of selecting a suitable measurement scheduler for the ultrasonic sensors of the ultrasonic monitoring system based on the number of ultrasonic sensors initialized as slave sensors and connected to an ultrasonic sensor initialized as a master sensor. Since the number of ultrasonic sensors can vary for different ultrasonic monitoring systems, it is necessary to configure the ultrasonic sensors of the ultrasonic monitoring system. Scheduling can refer to the scheduling of ultrasonic pulses emitted from different ultrasonic sensors. Therefore, interference between ultrasonic pulses from adjacent ultrasonic sensors can be avoided. In particular, interference from reflections of ultrasonic pulses from adjacent ultrasonic sensors can be avoided. Furthermore, the emission of ultrasonic pulses from different ultrasonic sensors can be scheduled to synchronize the joint operation of multiple ultrasonic sensors, for example, when the reflection of an ultrasonic pulse emitted by one ultrasonic sensor will be received and processed by at least one adjacent ultrasonic sensor. This enables more detailed localization of objects around the vehicle. The scheduling can also refer to the scheduling of the use of communication lines by the ultrasonic sensors. Since the number of ultrasonic sensors can vary, this scheduling allows for efficient use of communication lines for all numbers and configurations of ultrasonic sensors in the ultrasonic monitoring system.

[0041] According to a modified embodiment of the invention, the ultrasonic monitoring system includes a status indicator device connected to the output connector of one of the ultrasonic sensors, particularly the output connector of the last ultrasonic sensor initialized as a slave sensor in the ultrasonic sensor cascade. The status indicator device may be a simple illumination device that is lit when the ultrasonic monitoring system is active or activated / deactivated. Alternatively or additionally, the status indicator device may include a sound output device that generates sound when the ultrasonic monitoring system is active or activated / deactivated. Preferably, a universal connector of the corresponding ultrasonic sensor is used as the output connector, such that the status indicator device can be driven and powered, for example, via the universal connector.

[0042] According to a modified embodiment of the invention, the ultrasonic monitoring system includes an output device connected to the output connector of one of the ultrasonic sensors, particularly to the output communication line connector of the last ultrasonic sensor in a cascade of ultrasonic sensors. Therefore, the output device can be directly connected to one of the ultrasonic sensors of the ultrasonic monitoring system. No additional processing is required to generate the output of sensor information from the ultrasonic sensors of the ultrasonic monitoring system, enabling the ultrasonic monitoring system to be configured as a fully autonomous system. The communication line can be limited to connections between the ultrasonic sensors and each other, and between the ultrasonic sensors and the output device, thereby avoiding interaction with other devices on the communication line. No other devices are connected to the communication line. Therefore, the ultrasonic monitoring system can be implemented independently of other devices in the vehicle, reducing the risk of problems caused by multiple devices interoperating on the same communication line.

[0043] Therefore, the last ultrasonic sensor in a cascade of ultrasonic sensors can be connected to an output device to generate an output corresponding to the sensor information received from the cascaded ultrasonic sensors; that is, the output can be generated based on sensor information from any preceding ultrasonic sensor in the cascade. The output device can be, for example, an acoustic output device, such as a speaker or piezoelectric buzzer, which is directly controlled by the respective ultrasonic sensor by generating signal pulses at the output communication line connector via the corresponding ultrasonic sensor. Thus, for example, the ultrasonic sensor can include an output switch that internally interconnects the output communication line connector, for example, connected to ground via a ground connector or connected to a DC power supply line via a power supply voltage connector, and the output device, such as the piezoelectric buzzer, can be connected to the output communication line connector and the DC power supply line or ground, respectively. In this case, the last ultrasonic sensor can actuate the output switch to generate signal pulses to operate the piezoelectric buzzer. However, in alternative or additional embodiments, the ultrasonic sensor initialized as the last slave sensor can be adapted to transmit the output signal to the vehicle's control unit to generate a visual output of the sensor signals of, for example, the cascaded ultrasonic sensors. In both cases, no additional connector is required. In another alternative embodiment, the output signal is transmitted via different connectors of the ultrasonic sensor, such as general purpose inputs and / or outputs (GPIOs).

[0044] These and other aspects of the invention will become apparent and will be explained with reference to the embodiments described below. The various features disclosed in the embodiments may constitute aspects of the invention individually or in combination. Features of different embodiments may be carried over from one embodiment to another. Attached Figure Description

[0045] In the attached diagram:

[0046] Figure 1 A schematic diagram of a cascaded ultrasonic monitoring system with four ultrasonic sensors according to a first preferred embodiment is shown, wherein one ultrasonic sensor is initialized as a master sensor and the remaining ultrasonic sensors are initialized as slave sensors, and a switching device for initializing the master sensor and a piezoelectric buzzer as an output device are provided.

[0047] Figure 2 A first embodiment of a device is shown, comprising a physical LIN driver, a connection unit, and a logical router. Figure 1 A schematic diagram of the ultrasonic sensor in an ultrasonic monitoring system.

[0048] Figure 3A schematic diagram of a cascaded ultrasonic monitoring system with four ultrasonic sensors according to a second embodiment is shown, wherein one ultrasonic sensor is initialized as a master sensor and the remaining ultrasonic sensors are initialized as slave sensors, thereby connecting the master sensor to a higher-level processing unit for initializing the master sensor, and the ultrasonic monitoring system includes a piezoelectric buzzer as an output device.

[0049] Figure 4 A schematic diagram of two identical cascaded ultrasonic monitoring systems with four ultrasonic sensors according to a third embodiment is shown. One of the four ultrasonic sensors is initialized as a master sensor, and the remaining ultrasonic sensors are initialized as slave sensors. Each master sensor is connected to a higher-level processing unit for initializing the master sensor. The ultrasonic monitoring system includes a buzzer as an output device for each cascade.

[0050] Figure 5 It describes the initialization process. Figure 1 , 3 A flowchart of any ultrasonic monitoring system method and 4. Detailed Implementation

[0051] Figure 1 An ultrasonic monitoring system 1 for a vehicle according to a first preferred embodiment is shown. The ultrasonic monitoring system 1 of the first embodiment is an autonomous system that employs an ultrasonic parking assist system (UPA).

[0052] The ultrasonic monitoring system 1 includes a cascade 10 of multiple ultrasonic sensors 12, 14, which are provided as functionally identical ultrasonic sensors 12, 14. This cascade 10 is also referred to in the art as a daisy chain. In this embodiment, the ultrasonic monitoring system 1 includes four ultrasonic sensors 12, 14, which are integrated, for example, in the rear bumper of the vehicle. Therefore, the ultrasonic monitoring system 1 of the first embodiment employs a parking assist function regarding the rear of the vehicle to generate warnings about objects located around the vehicle.

[0053] Figure 2 One of the ultrasonic sensors 12 and 14 is shown as an example. Figure 2Only a partial view of ultrasonic sensors 12 and 14 is provided. Ultrasonic sensors 12 and 14 perform ultrasonic measurements to determine information about the environment surrounding the vehicle. Therefore, ultrasonic sensors 12 and 14 emit ultrasonic pulses into the vehicle's environment and receive reflections of ultrasonic pulses from various objects in the surrounding area. The reflections are processed to determine the distance to these objects or to determine more information about the vehicle's surroundings. This sensor information is provided for further processing in the ultrasonic monitoring system 1.

[0054] Each ultrasonic sensor 12, 14 includes a power voltage connector 16 for connection to a DC power supply line 18 and a ground connector 20 for connection to the vehicle's ground 22. The DC power supply line 18 provides permanent DC power, such as when the vehicle is started. The DC power supply line 18 is powered at the voltage level of the vehicle battery, which is typically 12V, 24V, or 48V.

[0055] Each ultrasonic sensor 12, 14 also includes an input communication line connector 24 for connection to a first segment 26 of communication line 28 and an output communication line connector 30 for connection to a second segment 32 of communication line 28. The first segment 26 of communication line 28 relative to one of the ultrasonic sensors 12, 14 corresponds to the second segment 32 of the corresponding preceding ultrasonic sensor 28. Therefore, the output communication line connector 30 of each ultrasonic sensor 12, 14 is connected to the subsequent ultrasonic sensor 12, 14 via the corresponding segments 26, 32 of communication line 28 to form a cascade 10. Thus, each ultrasonic sensor 12, 14 is connected to a preceding ultrasonic sensor 12, 14 and / or a subsequent ultrasonic sensor 12, 14 according to its position in the cascade 10.

[0056] According to the first embodiment, the input communication line connector 24 and the output communication line connector 30 are provided as LIN bus connectors for connection to the LIN bus, which serves as communication line 28. LIN (Local Internet Connection) is a serial network protocol used for communication between vehicle components. It is a simple protocol that can be easily implemented with a single wire. Therefore, the input communication line connector 24 and the output communication line connector 30 are single-wire connectors.

[0057] from Figure 2 It can also be seen that each ultrasonic sensor 12, 14 includes two physical drivers 34, which are disposed on the input communication line connector 24 and the output communication line connector 30. The physical drivers 34 receive and decode electrical signals on the communication line 28.

[0058] Each ultrasonic sensor 12, 14 also includes a connection unit 36 ​​for interconnecting its input communication line connector 24 with its output communication line connector 30, such as Figure 2 As shown. Specifically, connection unit 36 ​​is connected to two physical drivers 34. Connection unit 36 ​​includes a pair of code converters 38. One code converter 38 is connected to the input communication line connector 24 via a corresponding physical driver 34, and the other code converter 38 is connected to the output communication line connector 30 via a corresponding physical driver 34. Each code converter 38 decodes messages received at its respective connector 24, 30, and encodes messages transmitted via its respective connector 24, 30. The two code converters 38 are connected via an internal bus connection 40. A logic router 42 controls the operation of the code converters 38 in connection unit 36.

[0059] from Figure 1 It can also be seen that the ultrasonic monitoring system 1 includes a switching device 44, which in this embodiment is a reverse gear switch 44 that operates when the vehicle is in reverse driving mode. Therefore, the reverse gear switch 44 is coupled to the operation of the gearbox, i.e., coupled to the activation of reverse gear. The reverse gear switch 44 is connected between the DC power supply line 18 and the input communication line connector 24. Therefore, when the reverse gear switch 44 is closed, the voltage level of the DC power supply line 18 is provided at the input communication line connector 24 of the first ultrasonic sensor 12, 14 in the cascade 10 of ultrasonic sensors 12, 14.

[0060] The ultrasonic monitoring system 1 also includes an output device 46 connected to the output communication line connector 30 of the last ultrasonic sensor 14 in the cascade 10 of ultrasonic sensors 12, 14, which is initialized as a slave sensor, as described below. In this embodiment, the output device 46 is a piezoelectric buzzer 46. The piezoelectric buzzer 46 is connected to the output communication line connector 30 and the DC power supply line 18. The piezoelectric buzzer 46 is driven by signal pulses generated at the output communication line connector 30 by the last ultrasonic sensor 14 in the cascade 10 of ultrasonic sensors 12, 14. Therefore, the ultrasonic sensors 12, 14 include an output switch 58 that can interconnect the internals of the output communication line connector 30 to ground 22 via a grounding connector 20. The last ultrasonic sensor 14 in the cascade 10 of ultrasonic sensors 12, 14 actuates its output switch 58 to generate signal pulses, thereby operating the piezoelectric buzzer via the output communication line connector 30.

[0061] Depending on their respective initialization, each ultrasonic sensor 12, 14 can be used as a master sensor or a slave sensor. Therefore, ultrasonic sensors 12, 14 can be used independently at any location in the cascade 10.

[0062] Subsequently, other references will be made. Figure 5 A method for initializing an ultrasonic monitoring system 1 having ultrasonic sensors 12 and 14 is described.

[0063] The method begins with step S100, which refers to assigning a preset address to each of the cascaded ultrasonic sensors 12 and 14 when the ultrasonic sensors 12 and 14 are powered on. In this embodiment, the preset address is a default address, which is reserved for ultrasonic sensors 12 and 14 that have not yet been initialized. Therefore, each ultrasonic sensor 12 and 14 with this address knows that it must wait for initialization, either as a master sensor or as a slave sensor.

[0064] Step S110 involves providing an initialization signal, acting as the main sensor, to the first ultrasonic sensor 12 of the cascaded ultrasonic sensors 12, 14 10. According to the first embodiment, the initialization signal is provided as a logic voltage level at the input communication line connector 24 of the first ultrasonic sensor 12. The logic voltage level as the initialization signal is a high voltage level. Therefore, when the vehicle is to move in the rearward direction, reverse gear is selected and the reverse gear switch 44 is operated to close, causing the first ultrasonic sensor 12 to receive the logic voltage level of the DC power supply line 18 as the initialization signal to begin initialization as the main sensor.

[0065] This initialization signal is particularly important when the ultrasonic monitoring system 1 is a standalone ultrasonic monitoring system 1.

[0066] Step S120 involves initializing the first ultrasonic sensor 12 of the cascade 10 of ultrasonic sensors 12, 14 as the master sensor. The ultrasonic sensor 12 initialized as the master sensor controls the cascade 10. Therefore, the ultrasonic sensor 12 initialized as the master sensor of the cascade 10 of ultrasonic sensors 12, 14 performs the management tasks of the ultrasonic monitoring system 1, as discussed in more detail below. According to the first embodiment, when the ultrasonic sensor 12 is initialized as the master sensor, the connection unit 36 ​​does not interconnect the input communication line connector 24 and the output communication line connector 30. Furthermore, the ultrasonic sensor 12 initialized as the master sensor can receive sensor information from another ultrasonic sensor 14, i.e., from the ultrasonic sensor 14 initialized as a slave sensor as described below, and process the sensor information. The sensor information may include raw data, such as data regarding the reflection of ultrasonic pulses emitted by the ultrasonic sensors 12, 14. Alternatively, the sensor information includes information based on the processing of the raw data by each ultrasonic sensor 12, 14, such as information about the nearest object within the range of each ultrasonic sensor 12, 14. The ultrasonic sensor 12, which is initialized as the main sensor, can also transmit sensor information corresponding to the sensor input via the communication line 28, particularly via the output communication line connector 30.

[0067] Step S130 involves initializing the subsequent ultrasonic sensor 14 of the cascade 10 of ultrasonic sensors 12, 14 as a slave sensor based on an initialization message from the ultrasonic sensor 12 initialized as the master sensor. Therefore, the initialization message is transmitted from the output communication line connector 30 of the ultrasonic sensor 12 initialized as the master sensor to the input communication line connector 24 of each subsequent ultrasonic sensor 14 of the cascade 10 of ultrasonic sensors 12, 14, which will be initialized as a slave sensor. The subsequent ultrasonic sensor 14 initialized as a slave sensor receives the initialization message at its input communication line connector 24 and initializes itself as a slave sensor. This includes the connection unit 36 ​​internally interconnecting its input communication line connector 24 and its output communication line connector 30, enabling communication between the two code converters 38, thereby allowing the ultrasonic sensor 14 initialized as a slave sensor to communicate bidirectionally with the preceding and / or following ultrasonic sensors 12, 14 via each of the input communication line connector 24 and the output communication line connector 30, respectively.

[0068] Upon receiving an initialization message, the corresponding subsequent ultrasonic sensor 14, initialized from the sensor, determines a unique address, for example, based on any information included in the initialization message, and assigns that unique address to itself. Alternatively, the unique address may be a random address obtained from a sufficiently large address space, or it may be initialized from the sensor, where each ultrasonic sensor 14 is already equipped with a unique address, i.e., a factory address similar to the MAC address of a network device, and uses that unique address.

[0069] The ultrasonic sensor 14, initialized as a slave sensor, then sends an initialization response via communication line 28 from its input communication line connector 24 to the output communication line connector 30 of the ultrasonic sensor 12, initialized as the master sensor. The initialization response includes a unique address verified by the ultrasonic sensor 12, initialized as the master sensor, regarding potential conflicts.

[0070] Step S140 involves verifying whether each subsequent ultrasonic sensor 14 in the cascade 10 of ultrasonic sensors 12, 14 is the final ultrasonic sensor 12, 14 in the cascade 10 of ultrasonic sensors 12, 14. Therefore, the connection between the output device 46 and each ultrasonic sensor 14 is verified. According to the first embodiment, this refers to verifying the connection between the output device 46 and the output communication line connector 30 of each subsequent ultrasonic sensor 14. Therefore, a connection is initialized to determine the presence of the output device 46 from each subsequent ultrasonic sensor 14 and report this information to the ultrasonic sensor 12 initialized as the master sensor in an initialization response or another message. Determining the connection to the presence of the output device 46 is performed, for example, by applying a test voltage level to the output communication line connector 30 to verify its impedance. If the test voltage level remains unchanged, the corresponding output connector is not further connected or is not connected to another ultrasonic sensor 12, 14. Otherwise, if the voltage level performs a characteristic voltage drop, this can indicate a connection to the output device 46.

[0071] The detection of the output device 46 connected to the output communication line connector 30 directly indicates that the ultrasonic sensor 14 currently initialized as a slave sensor is the last ultrasonic sensor 12, 14 in the cascade 10 of ultrasonic sensors 12, 14. Therefore, the ultrasonic sensor 14 currently initialized as a slave sensor knows the connection of the output device 46 and can use the output device 46 without further configuration.

[0072] Step S150 refers to repeating the above steps: as specified in step S130, performing initialization of the corresponding subsequent ultrasonic sensor 14 of the cascade 10 of ultrasonic sensors as a slave sensor, and as specified in step S140, verifying whether the corresponding subsequent ultrasonic sensors 12, 14 of the cascade 10 of ultrasonic sensors 12, 14 are the final ultrasonic sensors 12, 14 in the cascade 10 of ultrasonic sensors 12, 14. Accordingly, steps S130 and S140 are repeated until the corresponding subsequent ultrasonic sensors 12, 14 are the final ultrasonic sensors 12, 14 in the cascade 10 of ultrasonic sensors 12, 14.

[0073] Therefore, the ultrasonic sensor 12, initialized as the master sensor, begins the initialization of the remaining ultrasonic sensors 14 as slave sensors, as discussed above regarding ultrasonic sensors 12 and 14 after ultrasonic sensor 12 has been initialized as the master sensor. The ultrasonic sensor 12, initialized as the master sensor, sends initialization messages to each subsequent ultrasonic sensor 14 initialized as a slave sensor, and these initialization messages are forwarded through all ultrasonic sensors 14 that have already been initialized as slave sensors until any uninitialized ultrasonic sensor 12 or 14 receives the initialization message and performs the corresponding initialization. This process is repeated until the last ultrasonic sensor 12 or 14 in the cascade 10 determines during initialization that it is the last ultrasonic sensor 12 or 14 in the cascade 10. This information is included in the acknowledgment signal sent to the ultrasonic sensor 12 initialized as the master sensor.

[0074] Therefore, as an initialization message for the slave sensor, it is transmitted through all the ultrasonic sensors 14 in the cascade 10 of ultrasonic sensors 12 and 14, which have already been initialized as slave sensors. Similarly, an initialization response is transmitted through all the ultrasonic sensors 14 in the cascade 10 of ultrasonic sensors 12 and 14, which have already been initialized as slave sensors.

[0075] After initialization, all ultrasonic sensors 14 are initialized to forward messages not directed to them in two directions: from input communication line connector 24 to output communication line connector 30 or from output communication line connector 30 to input communication line connector 24. This includes the initialization and normal operation of the ultrasonic monitoring system 1.

[0076] Step S160 involves determining the number of subsequent ultrasonic sensors 14 initialized as slave sensors based on the initialization count of the cascaded ultrasonic sensors 12, 14 10, which are connected to the ultrasonic sensor 12 initialized as a master sensor. In this embodiment, the ultrasonic sensor 12 initialized as a master sensor determines this information by counting the number of initialization responses received from each subsequent ultrasonic sensor 14 when they were initialized as slave sensors.

[0077] Step S170 involves selecting a suitable measurement scheduler for the ultrasonic sensors 12, 14 of the ultrasonic monitoring system 1, based on the number of ultrasonic sensors 14 initialized as slave sensors connected to the ultrasonic sensors 12 initialized as master sensors. Scheduling refers to the scheduling of ultrasonic pulse transmissions from different ultrasonic sensors 12, 14 to avoid interference between ultrasonic pulses from adjacent ultrasonic sensors 12, 14. Furthermore, the transmission of ultrasonic pulses from different ultrasonic sensors 12, 14 can be scheduled to synchronize the joint operation of multiple ultrasonic sensors 12, 14, for example, when the reflection of an ultrasonic pulse transmitted by one ultrasonic sensor 12, 14 will be received by at least one adjacent ultrasonic sensor 12, 14. This scheduling also refers to the scheduling of the use of communication line 28 by the ultrasonic sensors 12, 14.

[0078] After this initialization, the ultrasonic monitoring system 1 switches to normal operation. The ultrasonic sensors 14, initialized as slave sensors, transmit sensor information corresponding to their sensor inputs via communication line 28. The corresponding sensor information is transmitted on communication line 28 as messages encoded according to the encoding standard used for communication. Sensor information from the ultrasonic sensors 14 initialized as slave sensors is transmitted via input communication line connector 24 or via output communication line connector 30, that is, upstream toward the ultrasonic sensor 12 initialized as the master sensor, or downstream toward the last ultrasonic sensor 14 of the cascade 10 of ultrasonic sensors 12, 14, which is initialized as a slave sensor.

[0079] The system is initialized to transmit an output signal from the last ultrasonic sensor 14 of the cascade 10 to the output device 46 via its output communication line connector 30. This output corresponds to sensor information received from the ultrasonic sensors 12, 14 of the cascade 10; that is, the output is generated based on sensor information from any preceding ultrasonic sensor 12, 14 in the cascade 10. The output device 46 is directly controlled by the last ultrasonic sensor 12, 14 of the cascade 10 by generating signal pulses at the output communication line connector 30, which correspond to the acoustic signal of the output device 46. Specifically, as described above, the piezoelectric buzzer 46 is driven by signal pulses generated by the last ultrasonic sensor 14 of the cascade 10 at the output communication line connector 30 using an output switch 58, which interconnects the internal components of the output communication line connector 30 to ground 22 via a ground connector 20. Therefore, for this ultrasonic parking assistance system, the output includes an acoustic signal that depends on the distance to objects around the vehicle.

[0080] Figure 3 An ultrasonic monitoring system 1 for a vehicle according to a second embodiment is shown. The ultrasonic monitoring system 1 of the second embodiment also employs an ultrasonic parking assist system (UPA). The ultrasonic monitoring system 1 of the second embodiment is based on the ultrasonic monitoring system 1 of the first embodiment. Therefore, the following description of the ultrasonic monitoring system 1 of the second embodiment focuses on describing the differences between the ultrasonic monitoring systems 1 of the first and second embodiments.

[0081] The ultrasonic monitoring system 1 of the second embodiment also includes a cascade 10 of four ultrasonic sensors 12, 14, which are configured to function identically. Each ultrasonic sensor 12, 14 in the second embodiment has a design substantially the same as that of the ultrasonic sensors 12, 14 in the first embodiment. The operation used only for initializing the ultrasonic sensor 12 as the main sensor differs slightly from that in the first embodiment.

[0082] Compared to the ultrasonic monitoring system 1 of the first embodiment, the ultrasonic monitoring system 1 of the second embodiment does not include the switching device 44. Instead, the input communication line connector 24 of the first ultrasonic sensor 12, 14 of the cascade 10 of ultrasonic sensors 12, 14 is connected to the LIN node 48 via the communication line 28. The LIN node 48 is a supervisory control device. The LIN node 48 may be, for example, a body control module (BCN) or a human-machine interface (HMI).

[0083] The ultrasonic monitoring system 1 of the second embodiment includes an output device 46 that is the same as that of the ultrasonic monitoring system 1 of the first embodiment.

[0084] The operation of the ultrasonic monitoring system 1 in the second embodiment is basically the same as that of the ultrasonic monitoring system 1 in the first embodiment.

[0085] The step S110, which involves providing an initialization signal to the first ultrasonic sensor 12 to be initialized as the master sensor, differs from the method of the first embodiment. According to the second embodiment, the initialization signal, serving as the master sensor, is provided from the supervisory control device 48 to the input communication line connector 24 of the first ultrasonic sensor 12 to be initialized as the master sensor. The initialization signal from the supervisory control device 48 is an initialization message sent from the supervisory control device 48. The supervisory control device 48, for example, sends an initialization message to the cascaded first ultrasonic sensor 12 upon power-up, which is initialized as the master sensor. The ultrasonic sensor 12, initialized as the master sensor, then initiates the initialization of another ultrasonic sensor 14 as a slave sensor via the connection line 28, as discussed with respect to the first embodiment.

[0086] Furthermore, during initialization, the ultrasonic sensor 12, initialized as the master sensor, interconnects its input communication line connector 24 with its output communication line connector 30 via its connection unit 36. This enables communication between the two code converters 38, thereby enabling bidirectional communication between the ultrasonic sensor 12 initialized as the master sensor and the LIN node 48, and the subsequent ultrasonic sensor 14 initialized as a slave sensor.

[0087] Figure 4 An ultrasonic monitoring system 1 for a vehicle according to a third embodiment is shown. The ultrasonic monitoring system 1 of the third embodiment also employs an ultrasonic parking assist system (UPA). The ultrasonic monitoring system 1 of the third embodiment is based on the ultrasonic monitoring systems 1 of the first and second embodiments. Therefore, the following description of the ultrasonic monitoring system 1 of the third embodiment focuses on the description of the differences between the ultrasonic monitoring systems 1 of the first and second embodiments and the ultrasonic monitoring system of the third embodiment.

[0088] The ultrasonic monitoring system 1 of the third embodiment includes two cascades 10, each cascade having four ultrasonic sensors 12, 14. The ultrasonic sensors 12, 14 of the two cascades 10 are interconnected with corresponding first ultrasonic sensors 12, 14 via communication lines 28. Furthermore, the two cascades 10 of ultrasonic sensors 12, 14 are connected to a LIN node 48 via communication lines 28, as discussed above with respect to the second embodiment.

[0089] Ultrasonic sensors 12 and 14 are provided as functionally identical ultrasonic sensors 12 and 14. Each ultrasonic sensor 12 and 14 of the third embodiment has a substantially the same design as the ultrasonic sensors 12 and 14 of the first embodiment. However, the ultrasonic sensors 12 and 14 of the third embodiment include two additional connectors 50 and 52, which are provided as first and second general purpose input and / or output connectors 50 and 52 (GPIO). The GPIO connectors 50 and 52 of the third embodiment can provide and / or receive logic voltage levels. The GPIO connectors 50 and 52 of the third embodiment can be configured differently, for example, with regard to dithering.

[0090] Similar to the ultrasonic monitoring system 1 of the first embodiment, the ultrasonic monitoring system 1 of the third embodiment includes two switching devices 44 and 54. The first of the switching devices 44 and 54 is a reverse switch 44, as discussed above with respect to the first embodiment. However, according to the third embodiment, the reverse switch 44 is connected between the DC power supply line 18 and the first universal input and / or output connector 50. When the reverse switch 44 is operated, the voltage level of the DC power supply line 18 is supplied to the first universal input and / or output connector 50. The second of the switching devices 44 and 54 is a user-operated switching device 54. The user-operated switching device 54 refers to, for example, a push-button switch or any other type of manual or electronic switch. The user-operated switching device 54 is connected between the DC power supply line 18 and the second universal input and / or output connector 52. Therefore, under the operation of the user-operated switching device 54, the voltage level of the DC power supply line 18 is supplied to the second universal input and / or output connector 52.

[0091] The ultrasonic monitoring system 1 also includes a status indicator device 56, which is connected to the first universal input and / or output connector 50 of the last ultrasonic sensor 14 in the cascade 10 of ultrasonic sensors 12, 14, which is initialized as a slave sensor. The status indicator device 56 may be a simple illumination device that is lit when the ultrasonic monitoring system 1 is active or activated / deactivated. Alternatively, the status indicator device 56 may be an audio output device that generates sound when the ultrasonic monitoring system 1 is active or activated / deactivated.

[0092] To simplify the accompanying drawings, the reverse gear switch 44, the user-operated switch device 54, and the status indicator device 56 are shown in... Figure 4 Only one of the cascaded ultrasonic sensors 12 and 14 in the ultrasonic monitoring system 1 is described. However, another cascaded ultrasonic sensors 12 and 14 also includes the reverse gear switch 44, the user-operated switch device 54, and the status indicator device 56 as described above.

[0093] The first ultrasonic sensor 12, initialized as the master sensor, can be initialized in different ways. In a first way, the initialization of the first ultrasonic sensor 12, as the master sensor, begins when the corresponding first ultrasonic sensor 12 receives a first initialization message from the LIN node 48, as described above with respect to the second embodiment. In a second way, the initialization of the first ultrasonic sensor 12, as the master sensor, begins when the reverse switch 44 is closed and the voltage level of the DC power supply line 18 is provided to the first universal input and / or output connector 50. In a third way, the initialization of the first ultrasonic sensor 12, as the master sensor, begins when the user-operated switch device 54 is closed and the voltage level of the DC power supply line 18 is provided to the second universal input and / or output connector 52. Subsequently, each ultrasonic sensor 12 initialized as the master sensor begins to initialize the remaining ultrasonic sensors 14 of the corresponding cascade 10, as described above with respect to the first and second embodiments.

[0094] List of reference numerals

[0095] 1. Ultrasonic monitoring system

[0096] 10. Cascading of Ultrasonic Sensors

[0097] 12. Ultrasonic sensor, main sensor

[0098] 14. Ultrasonic sensor, from sensor

[0099] 16 Power supply voltage connector

[0100] 18 DC power supply lines

[0101] 20 Grounding connector

[0102] 22 locations

[0103] 24 Input Communication Line Connector

[0104] 26. The first segment of the communication line

[0105] 28 Communication lines

[0106] 30 Output communication line connector

[0107] 32. The second segment of the communication line

[0108] 34 Physical Drivers

[0109] 36 connecting units

[0110] 38 Code Converter

[0111] 40 Bus connection

[0112] 42 Logical Routers

[0113] 44. Switching device, reverse switch

[0114] 46 Output device, piezoelectric buzzer

[0115] 48. Supervisory control device, LIN node

[0116] 50 Additional Connectors, First Universal Input and Output Connectors

[0117] 52 Additional connectors, second universal input and output connectors

[0118] 54. Switching device, user-operated switching device

[0119] 56 Status indicator device

[0120] 58 Output switch.

Claims

1. A method for initializing an ultrasonic monitoring system (1) of a vehicle, the ultrasonic monitoring system comprising a plurality of ultrasonic sensors (12, 14) arranged in a cascade (10), wherein, The ultrasonic sensors (12, 14) each comprise a supply voltage connector (16) for connection to a DC supply line (18), a ground connector (20) for connection to ground (22), an input communication line connector (24) for connection to a first segment (26) of a communication line (28), and an output communication line connector (30) for connection to a second segment (32) of the communication line (28), and a connection unit (36) for interconnecting the input communication line connector (24) and the output communication line connector (30), the method comprising the steps of: providing an initialization signal to a first ultrasonic sensor (12, 14) of a cascade (10) of ultrasonic sensors (12, 14) as master sensor, performing an initialization of the first ultrasonic sensor (12) of the cascade (10) of ultrasonic sensors (12, 14) as master sensor, performing an initialization of a following ultrasonic sensor (14) of the cascade (10) of ultrasonic sensors (12, 14) as slave sensor based on an initialization message from the ultrasonic sensor (12) initialized as master sensor, wherein the connection unit (36) interconnects the input communication line connector (24) and the output communication line connector (30) of each ultrasonic sensor (14) initialized as slave sensor, characterized in that the method further comprises the steps of: verifying whether each following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) is the last ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14), comprising verifying the connection of an output device to each following ultrasonic sensor (12, 14) of the cascade of ultrasonic sensors (12, 14), wherein each following ultrasonic sensor (12, 14) initialized as slave sensor determines an existing connection to an output device (46) and reports this information in an initialization response or other message to the ultrasonic sensor (12) initialized as master sensor, and repeating the above steps, i.e. performing an initialization of a following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) as slave sensor, and verifying whether each following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) is the last ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14), until the following ultrasonic sensor (12, 14) is the last ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14), wherein the last ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) is the ultrasonic sensor (12, 14) of the cascade (10) connected to the output device (46).

2. The method according to claim 1, characterized in that Providing an initialization signal as master sensor to the first ultrasonic sensor (12) of the cascade (10) of ultrasonic sensors (12, 14) comprises providing the initialization signal from the supervisory control device (48) to the input communication line connector (24) of the first ultrasonic sensor (12).

3. The method according to claim 1 or 2, characterized in that Providing an initialization signal as master sensor to the first ultrasonic sensor (12) of the cascade (10) of ultrasonic sensors (12, 14) comprises providing the initialization signal as a logic voltage level at the input communication line connector (24) of the first ultrasonic sensor (12, 14).

4. The method according to claim 1 or 2, characterized in that Performing the step of initialization of the following ultrasonic sensors (14) of the cascade (10) of ultrasonic sensors (12, 14) as slave sensors based on the initialization message from the ultrasonic sensor (12) initialized as master sensor comprises the steps of: transmitting the initialization message from the output communication line connector (30) of the ultrasonic sensor (12) initialized as master sensor to the input communication line connector (24) of each following ultrasonic sensor (14) of the cascade (10) of ultrasonic sensors (12, 14), and transmitting an initialization response from the input communication line connector (24) of each following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) to the output communication line connector (30) of the ultrasonic sensor (12) initialized as master sensor.

5. The method according to claim 1 or 2, characterized in that The method comprises the additional steps of: assigning a preset address to each ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14), and Performing the step of initialization of the following ultrasonic sensors (14) of the cascade (10) of ultrasonic sensors (12, 14) as slave sensors based on the initialization message from the ultrasonic sensor (12) initialized as master sensor comprises assigning a unique address to each following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14).

6. The method according to claim 5, characterized in that The step of assigning a unique address to each following ultrasonic sensor (12, 14) of the cascade (10) of ultrasonic sensors (12, 14) comprises transmitting the unique address from the ultrasonic sensor (12) initialized as master sensor to each following ultrasonic sensor (14) of the cascade (10) of ultrasonic sensors (12, 14).

7. The method according to claim 6, characterized in that The step of assigning a unique address to each subsequent ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14) includes: upon receiving the initialization message, assigning the address to each subsequent ultrasonic sensor (14) in the cascade (10) of the ultrasonic sensors (12, 14).

8. The method according to claim 4, characterized in that, The transmission of the initialization message as a slave sensor from the output communication line connector (30) of the ultrasonic sensor (12) initialized as a master sensor to the input communication line connector (24) of each subsequent ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14) includes: at least one ultrasonic sensor (12, 14) of the cascade (10) of the ultrasonic sensors (12, 14) that has been initialized as a slave sensor will transmit the initialization message as a slave sensor. Transmitting the initialization response from the input communication line connector (24) of each subsequent ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14) to the output communication line connector (30) of the ultrasonic sensor (12) initialized as the master sensor includes: transmitting the initialization response through at least one ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14), the at least one ultrasonic sensor having been initialized as a slave sensor.

9. The method according to claim 1 or 2, characterized in that, Verifying whether each subsequent ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14) is the last ultrasonic sensor (12, 14) in the cascade (10) of the ultrasonic sensors (12, 14) includes: applying a timeout to the initialization response received regarding the initialization message.

10. The method according to claim 1 or 2, characterized in that, The method includes the additional step of determining the number of ultrasonic sensors (14) that are initialized as slave sensors and connected to the ultrasonic sensor (12) that are initialized as master sensors, based on the number of initializations of the subsequent ultrasonic sensors (14) that are initialized as slave sensors in the cascade (10) of the ultrasonic sensors (12, 14).

11. The method according to claim 1 or 2, characterized in that, The method includes the additional step of selecting a suitable measurement scheduler for the ultrasonic sensors (12, 14) of the ultrasonic monitoring system (1) based on the number of ultrasonic sensors (14) initialized as slave sensors connected to the ultrasonic sensor (12) initialized as master sensor.

12. The method according to claim 1 or 2, characterized in that, The input communication line connector (24) is used to monitor the reception of signals during initialization, and / or the output communication line connector (30) is used to transmit signals during initialization.

13. The method according to claim 1 or 2, characterized in that, Verifying the connection of the output device to the cascaded ultrasonic sensors (12, 14) includes verifying the connection of the output device (46) to the output communication line connector (30) of each of the subsequent ultrasonic sensors (12, 14).

14. The method according to claim 5, characterized in that, The preset address is assigned to each ultrasonic sensor (12, 14) in the cascade (10) of ultrasonic sensors (12, 14) when the ultrasonic sensors (12, 14) are powered on.

15. An ultrasonic monitoring system (1) for a vehicle, comprising a plurality of ultrasonic sensors (12, 14) arranged in a cascade (10), wherein, Each of the plurality of ultrasonic sensors (12, 14) includes: a power supply voltage connector (16) for connection to a DC power supply line (18), a grounding connector (20) for connection to ground (22), an input communication line connector (24) for connection to a first segment (26) of a communication line (28), an output communication line connector (30) for connection to a second segment (32) of the communication line (28), and a connection unit (36) for interconnecting the input communication line connector (24) and the output communication line connector (30), wherein the ultrasonic monitoring system (1) is adapted to perform the method according to any one of claims 1 to 14.

16. The ultrasonic monitoring system (1) according to claim 15, characterized in that, The input communication line connector (24) is used to monitor the reception of signals during initialization, and / or the output communication line connector (30) is used to transmit signals during initialization.

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