Method for measuring the lateral surroundings of a vehicle, measuring device and vehicle

Abstract

The invention relates to an ultrasonic measuring method, comprising: controlling an ultrasonic transceiver at two lateral positions to emit a plurality of transmission signals in a lateral direction and to receive a plurality of sequences of reception signals; identifying echo signals in a particular sequence of reception signals; triangulating a position of a first reflection point from which a first echo signal in the particular sequence of reception signals is reflected in time sequence; selecting an echo signal from the plurality of echo signals for a double-echo determination depending on the triangulated position of the first reflection point of the first echo signal in time; determining whether the selected echo signal forms a double echo together with a possible additional, temporally subsequent echo signal; and determining an object height at the reflection point from which the selected echo signal is reflected as high, if a double echo is determined, and as low, if no double echo is determined. The method can identify shadowed obstacles that are post-positioned between other obstacles. Furthermore, the invention relates to a measuring device and to a vehicle.

Description

Technical Field

[0001] This invention relates to the field of parking assistance systems for motor vehicles, and more particularly to a method and measuring apparatus for measuring the lateral surrounding environment of a vehicle using a lateral ultrasonic transceiver, and to a corresponding vehicle. Background Technology

[0002] Modern vehicles have parking assist systems configured to measure the vehicle's lateral surroundings to semi-automatically or fully automatically identify parking spaces and park the vehicle within them. One known method for measuring the lateral surroundings uses an ultrasonic transceiver to determine the distance to objects in the lateral surroundings based on the time of flight between transmitting the transmitted signal and receiving the associated echo signal.

[0003] DE 10 2005 044 050 A1 also teaches a method for determining parking spaces for motor vehicles, wherein the height of objects in the surrounding environment to the side of the motor vehicle is assessed based on whether a single echo signal or two echo signals (forming a double echo) are received in response to the transmission of a transmitted signal.

[0004] Based on this idea, DE 10 2007 035 219 A1 teaches the practice of generating object classification signals based on multiple local maxima in the received signal.

[0005] DE 10 351 314 A1 teaches a method for determining the orientation of a reflecting point on an object in the surrounding environment to the side of a motor vehicle. Corresponding transmission signals are emitted from two different locations, the associated echo signals are received, and the corresponding distances are determined. Based on the two distance measurements and the distance between the two locations, the precise orientation of the object is then calculated using triangulation or trilateration methods. Summary of the Invention

[0006] In this context, one object of the present invention is to improve the measurement of the vehicle's lateral surrounding environment.

[0007] Therefore, the first aspect proposes a method for measuring the lateral surrounding environment of a vehicle equipped with at least one lateral ultrasonic transceiver. The method includes the following steps: a) activating at least one ultrasonic transceiver at at least two transmitting and receiving positions along a lateral direction, the lateral direction being the direction of travel of the vehicle, with the aim of transmitting a corresponding transmitted signal in a lateral direction across the direction of travel and receiving a corresponding received signal feature reflected from the lateral surrounding environment; b) identifying multiple echo signals in each received signal feature; c) performing trilateration on the orientation of a first reflection point in the lateral surrounding environment from which a first echo signal in the corresponding received signal feature is reflected in chronological order; d) selecting an echo signal from one of the multiple echo signals in the received signal feature for dual echo determination based on the orientation of the first reflection point associated with at least the first echo signal in the chronological order determined by trilateration in step c); e) determining whether the selected echo signal forms a dual echo with any other echo signal that is chronologically later; and f) if a dual echo is detected in step e), determining that the height of an object in the lateral surrounding environment at the reflection point reflecting the selected echo signal is high, and if no dual echo is detected, determining that it is low.

[0008] Therefore, in particular, dual-echo determination is not always performed using the first and second echo signals. Instead, at least one trilateration position of the first reflection point is used as the basis for determining which of the plurality of echo signals in the respective received signal characteristics to use for dual-echo determination, reflecting the first echo signal in the respective received signal characteristics in chronological order from that first reflection point. This advantageously allows obstacles that are laterally positioned in the lateral surrounding environment, located among other obstacles in the lateral surrounding environment, and obscured by said obstacles, to become visible or measurable.

[0009] Measuring the lateral surroundings of a vehicle should be understood in particular to determine the height and orientation of objects or reflective points on objects in the lateral surroundings of the vehicle.

[0010] Lateral ultrasonic receivers are, in particular, devices configured to transmit ultrasonic signals or ultrasonic signal characteristics to and from the lateral surrounding environment of a vehicle.

[0011] In this context, "lateral direction" should be understood as the direction along the vehicle's direction of travel, or along the vehicle's front and rear axles. "Lateral direction" should, in this context, specifically refer to the direction that crosses the lateral direction. In particular, the lateral direction is perpendicular to the lateral direction.

[0012] The transmitted signal emitted by an ultrasonic transceiver can in particular be a signal lobe. "Emitting the transmitted signal in the lateral direction" can therefore be understood specifically as meaning that the maximum signal strength of the emitted ultrasonic signal is emitted in the lateral direction. The signal strength can decrease laterally. This means that the transmitted signal can be emitted within an angular range, for example, 30°, 60°, 90°, 120°, or up to 180°, or any other value between 0° and 180°, with the maximum signal strength emitted in the lateral direction.

[0013] In this context, "signal" should be understood specifically as a signal pulse, the time range of which is defined by the time position of the maximum signal strength and the width of the signal pulse surrounding that maximum value. In contrast, "signal characteristics" should be understood specifically as the characteristics of the signal strength transmitted or received over a longer period of time. Signal characteristics can include one or more signals or signal pulses.

[0014] "Echo signal" should be understood in particular as the reflection of previously transmitted signals from the vehicle side into the surrounding environment.

[0015] Specifically, the transmitted signal or transmitted signal pulse is transmitted at the corresponding transmission location at the transmission time. The received signal characteristics are received at the corresponding reception location within a specific reception period. Then, one or more echo signals are identified from these characteristics.

[0016] For example, when the vehicle is stationary, two ultrasonic transceivers can be used to perform the proposed method. In this case, the corresponding transmitting and receiving positions can be the same, and the terms "transmitting and receiving positions" refer to the same transmitting and receiving positions. The "direction of travel" in this case can refer to the vehicle's forward and backward direction.

[0017] When the vehicle is moving, this method can also be advantageously performed using a single ultrasonic transceiver. In this case, the term "transmit and receive positions" refers to multiple locations in a cross-section along the lateral or driving direction of the vehicle, from the transmission of the transmitted signal to the completion of the reception of the echo signal characteristics. However, in this case, a specific transmission position can also be identified for each transmitted signal, and a corresponding echo signal reception position can be determined for each identified echo signal. This can be achieved, in particular, based on the echo signal reception time combined with speed data transmitted by the odometer unit.

[0018] The number of echo signals can be "identified" in parallel with the reception of corresponding received signal characteristics or subsequently. Specifically, the corresponding received signal characteristics can be buffered and stored. This identification can be based on the occurrence of the maximum amplitude (signal strength) value in the corresponding received signal characteristics. In particular, a predetermined or variable threshold can be applied, and if the amplitude (signal strength) in the corresponding received signal characteristics exceeds this threshold, an echo signal can be identified.

[0019] Trilateration should be understood, in particular, as determining the azimuth of the reflection point based on the time difference between the transmission of the corresponding transmitted signal and the reception of the corresponding, time-sequential, first echo signal, and based on the distance between the corresponding transmission and reception positions. The measured time difference between the transmission of the transmitted signal and the reception of the time-sequential, first echo signal allows the distance from the relevant transmission and reception positions to the reflection point to be determined by multiplying half of the time difference by the speed of sound. The azimuth of the reflection point is then obtained, specifically as the intersection of a circle with a radius of a first determined distance around the first transmission and reception positions and a circle with a radius of a second determined distance around the second transmission and reception positions.

[0020] The “selected echo signal” specifically refers to an echo signal that was initially assumed to be directly reflected (i.e., reflected only once) from the lateral surrounding environment and returned to the ultrasonic transceiver via a direct path. The “later in chronological order” echo signal specifically refers to the next echo signal, i.e., the next pulse or maximum value found in the same echo signal characteristics. In particular, there are no other echo signals with the same echo signal characteristics between the selected echo signal and the later in chronological order echo signal.

[0021] The echo signal that appears later in time is initially assumed to be an echo signal that is indirectly reflected (i.e., reflected multiple times) in the lateral surrounding environment and thus returns to the ultrasonic transceiver via an indirect path.

[0022] If it can then be determined that the later echo signal in chronological order is correlated with the selected echo signal, i.e., reflected from the same obstacle, then the obstacle is determined to be high. For example, the obstacle could be a vehicle or a house wall, the selected echo signal could be an echo signal directly reflected to the ultrasonic transceiver, and the later echo signal in chronological order could be an echo signal reflected via an indirect path first from the obstacle to the ground and then from the ground to the ultrasonic transceiver. On the other hand, if there are no double echoes, then the obstacle at the point where the selected echo signal is reflected is determined to be low.

[0023] In this context, "high" should be understood specifically as a height at which, when parked, objects or obstacles in the lateral surroundings should not be driven over or touched. "Low" should be understood specifically as a height at which, when parked, objects or obstacles in the lateral surroundings can be driven over, that is, specifically, for example, the typical height of a curb of up to 15cm.

[0024] Whether a double echo has been formed can be determined based on the time interval between the selected echo signal and the echo signal that follows in chronological order, and / or based on the signal properties of each echo signal, such as signal strength ratio, signal shape, etc.

[0025] According to the proposed method, based on the trilateration of the reflection point of the first echo signal, one of the multiple echo signals in the echo signal characteristics is selected as the chosen echo signal.

[0026] Therefore, depending on the trilateration orientation of the reflection point of the first echo signal, dual-echo determination can be performed, for example, based on the first and second echo signals or based on a later echo signal in time sequence, such as the second and third echo signals in time sequence.

[0027] This advantageously allows obstacles that are positioned behind and obscured by another obstacle in the surrounding environment to become visible.

[0028] According to one embodiment, the proposed method includes step c), which includes performing trilateration on at least one azimuth of a second reflection point in the lateral surrounding environment, reflecting a second echo signal in chronological order from the second reflection point, and selecting an echo signal for dual echo determination in step d) and / or determining in step e) whether the selected echo signal forms a dual echo with another echo in chronological order is performed based on the azimuth of the reflection point of the selected echo signal measured in step c) and / or based on the azimuth of the reflection point of the echo signal in chronological order measured in step c).

[0029] Specifically, in addition to the orientation of the first reflection point, step c) may include performing trilateration on one or more orientations of one or more other reflection points. Specifically, step c) may include performing trilateration on the orientations of the first reflection point, the second reflection point, the third reflection point, and / or the fourth reflection point. Particularly preferably, step c) may include performing trilateration on the associated nth reflection point for each nth echo signal in one of the two received signal features, where n is an integer of 1 or greater for the two received signal features, and for one of the two received signal features, the nth echo signal is identified in the other received signal feature based on the time sequence of the echo signals in the corresponding received signal feature. Therefore, in step d), a selected echo signal is determined for the dual echo, and if necessary, in step e), it is determined whether the selected echo signal forms a dual echo with another echo signal that is chronologically later. This is then performed based on the orientation of the first, second, third, and / or fourth reflection point of the selected echo signal as measured by the trilateration in step c), and optionally based on the orientation of the reflection point of the echo signal that is chronologically later as measured by the trilateration in step c), which then corresponds to the second, third, fourth, or fifth reflection point.

[0030] By performing trilateration on other reflection points, shading and erroneous double echo determination can be avoided more reliably.

[0031] According to another embodiment, step d) includes determining an echo signal in a received signal feature for the corresponding dual echo, wherein the azimuth of the associated transmission and reception position of the echo signal is not laterally offset relative to the associated transmission and reception position of the received signal feature and is measured in triplicate in step c).

[0032] The orientation of the reflection point is considered to be "laterally offset" relative to the transmitting and receiving positions, particularly if it deviates from the lateral axis of the ultrasonic transceiver across the transmitting and receiving positions by more than a tolerance interval. The orientation of the reflection point is considered to be "without lateral offset" relative to the transmitting and receiving positions, particularly if it deviates from the lateral axis of the ultrasonic transceiver across the transmitting and receiving positions by no more than a tolerance interval. The tolerance interval can be determined based on one or more vehicle speeds, the distance between the vehicle and the lateral surroundings where an obstacle is suspected, the transmission frequency of the transmitted signal, etc.

[0033] Therefore, in particular, echo signals from reflection points on laterally offset obstacles (which are located on the side relative to the transverse axis of the ultrasonic transceiver) returning to the ultrasonic transceiver from the tilt direction cannot be used for dual-echo determination, even before the echo signals from the reflection points along the transverse axis reach the ultrasonic transceiver, and echo signals from obstacles located in the transverse direction that arrive later in time can be advantageously used for dual-echo determination and subsequent height determination.

[0034] This can be advantageously used to prevent obstacles in a rearward position from being obscured by other laterally offset obstacles.

[0035] According to another embodiment, step d) includes selecting a second echo signal in time sequence from a received signal feature for dual echo determination if the orientation of the first reflection point measured by the trilateration in step c) is laterally offset relative to the associated transmit and receive positions of a received signal feature; otherwise, selecting the first echo signal in time sequence.

[0036] In practice, depending on the ultrasonic transceiver used and other environmental factors such as the driving conditions, it can sometimes be difficult to perform trilateration of other reflection points with sufficient accuracy based on other echo signals that follow the first echo signal in time sequence. Therefore, according to this embodiment, the orientation of the first reflection point is measured exclusively based on the corresponding time-sequential echo signals in the characteristics of the two echo signals.

[0037] The inventors have recognized that if the first reflection point is laterally offset, the typical obstruction when measuring the parking space of the vehicle's lateral surroundings can be effectively eliminated by simply performing dual-echo determination and height determination using the second echo signal as the selected echo signal and the third echo signal as a possible candidate for dual-echo determination. Trilateration of additional reflection points can be advantageously omitted, and in particular, to determine the orientation of the second reflection point, it can be assumed that the second and third echo signals have been reflected substantially along the tangential axis of the ultrasonic transceiver.

[0038] Indeed, even at high, laterally offset obstacles, both single reflection (i.e., reflection from the obstacle alone) and double reflection (i.e., reflection from both the obstacle and the ground) can occur. However, in practice, the latter often either cannot find its path back to the ultrasonic transceiver and / or is no longer recognized as a separate echo signal because the signal strength is too low.

[0039] According to another embodiment, step e) includes detecting dual echoes only under the condition that the azimuth has no lateral offset relative to the azimuth of the trilateration performed in step c) for the azimuth of the reflection point associated with the selected echo signal, and the trilateration is performed in step c) for the reflection point associated with the echo signal that is later in time.

[0040] The orientation of a reflection point associated with a later echo signal in time sequence is considered a "lateral offset" of the orientation relative to the trilateration of the reflection point of the selected echo signal, especially if the two orientations deviate from each other by more than a tolerance interval. Two orientations are considered "without lateral offset," especially if they deviate from each other by no more than a tolerance interval. The tolerance interval can be determined based on one or more vehicle speeds, the distance between the vehicle and the lateral surroundings of the suspected obstacle, the transmission frequency of the transmitted signal, etc.

[0041] If conditions permit, trilateration of the echo signals occurring later in time can be performed. This embodiment can advantageously prevent echo signals reflected from a first direction and echo signals occurring later in time but from different second directions from being mistakenly identified as double echoes associated with the same reflection point. Therefore, the masking and superposition effects of echo signals reflected from different obstacles or objects in the lateral surrounding environment can be prevented.

[0042] According to another embodiment, step d) includes selecting a second echo signal in time sequence from a received signal feature for dual echo determination if the orientation of the first reflection point measured by the trilateration in step c) is laterally offset relative to the associated transmit and receive positions of a received signal feature; otherwise, selecting the first echo signal in time sequence.

[0043] The inventors particularly recognized that if a trilateration is performed on the lateral offset azimuth of the first echo in time sequence based on the characteristics of the received signal, then in the case of actual obstruction locations, a significant improvement in measurement can be achieved simply by considering the formation of a double echo based on the second and third echo signals in time sequence based on the characteristics of the received signal.

[0044] In particular, trilateration based on the orientation of the reflection point of the echo signal that is later in the time sequence than the trilateration based on the first echo signal in the time sequence can be proven to be more difficult than trilateration based on the first echo signal in the time sequence.

[0045] According to this embodiment, the problem of obstruction can be advantageously improved without the need to perform trilateration of the orientation of the second and third reflection points of the reflected second and third echo signals in chronological order.

[0046] According to another embodiment, step e) includes detecting dual echoes only when the time interval between the selected echo signal and the subsequent echo signal in a time sequence of a received signal feature is less than a predetermined maximum interval.

[0047] The predetermined maximum interval can be determined by taking into account the expected path length of the double-reflected echo signal compared to the directly reflected echo signal. The expected path length depends particularly on the installation height of the ultrasonic transceiver and the expected distance between the vehicle and the object under test. For example, considering a sound speed of 343 m / s, a path length increase of 50 cm results in a time difference of approximately 1.5 ms. The predetermined maximum interval can be selected within the range of 1 to 2 ms, preferably 2 ms.

[0048] Therefore, it is possible to effectively prevent incorrect determination of double echoes based on echo signals reflected from different reflection points.

[0049] According to another embodiment, step e) includes detecting dual echoes only when the signal strength of the later echo signal in chronological order is not higher than the signal strength of the selected echo signal, and the deviation from the signal strength of the selected echo signal does not exceed a predetermined factor.

[0050] Therefore, it is possible to effectively prevent incorrect determinations based on double echoes reflected from different objects.

[0051] According to another embodiment, a corresponding tolerance interval is selected based on the vehicle's travel speed to determine whether the corresponding trilateration orientation is laterally offset.

[0052] As an example only, assume the vehicle is traveling at 30 km / h through its lateral surroundings. Considering the speed of sound of 343 m / s and the typical distance from roadside obstacles or parking spaces, estimate 40 ms is needed to transmit the signal before fully receiving the characteristics of the received signal. This results in measurements every 33 cm (transmitted signal and received signal characteristics). In this respect, for example, if the lateral azimuth of the reflection point differs from the lateral azimuth of the ultrasonic transceiver at the transmit and receive positions by a tolerance interval greater than 15 to 20 cm, or if the azimuth of the reflection point is separated from the lateral axis of the ultrasonic transceiver at the transmit and receive positions by a tolerance interval greater than 15 to 20 cm, then in this example, the azimuth of the reflection point can be considered laterally offset.

[0053] Therefore, by assuming there is no lateral offset when the lateral offset is less than the tolerance interval, it is advantageous to compensate for the inaccuracies and noise problems that actually occur during trilateration.

[0054] According to another embodiment, the proposed method further includes g) determining the orientation of the object whose height was determined in step f) based on the time difference between the reception of a selected echo signal and the transmission of a related transmitted signal in a received signal feature, and based on the lateral direction across the vehicle's direction of travel.

[0055] Specifically, in this embodiment, it is assumed that, as a result of selecting the echo signal based on the orientation of at least the first reflection point in step e), the height of the object determined by the echo signal selected in this way and the echo signal that comes later in time has no lateral offset relative to the transmitting and receiving position of the ultrasonic transceiver, i.e., it is substantially arranged in the region of the transverse axis of the ultrasonic transceiver.

[0056] Therefore, it is advantageous that even if only the first reflection point is measured based on the first echo signal, the orientation of the second or another reflection point and the associated object can be meaningfully determined, but the dual-echo determination and height determination are performed based on the second and / or another echo signal.

[0057] According to another embodiment, the proposed method further includes g) determining the orientation of the object whose height was determined in step f) as the orientation of the reflection point that reflects the selected echo signal, as measured by trilateration in step c).

[0058] However, if the orientation of the reflection point of the selected echo signal is determined by trilateration, this embodiment can advantageously include more precise determination of the orientation of the relevant object.

[0059] The second aspect proposes a method for parking a vehicle equipped with at least one lateral transceiver and a parking assist system. The method includes: repeatedly performing the method of the first aspect at multiple locations along a direction of travel parallel to the vehicle's lateral surroundings to determine the orientation and height of one or more objects in the vehicle's lateral surroundings; determining a parking space in the lateral surroundings where no objects are determined to be tall; and parking the vehicle in the parking space using the parking assist system.

[0060] Parking assist systems can be configured to provide prompts or instructions to the human driver of the vehicle to execute appropriate steering and driving procedures. Parking assist systems can also be configured specifically for semi-autonomous or fully autonomous driving of the vehicle. Semi-autonomous driving is understood to mean, for example, that the parking assist system controls the steering equipment and / or the automatic gear selection system. Fully autonomous driving is understood to mean, for example, that the parking assist system also controls the drive and braking systems.

[0061] The parking assist system particularly enables the vehicle to travel along a direction of travel parallel to the vehicle's lateral surroundings, in which there may be parking space. The vehicle preferably travels at a speed not exceeding 40 km / h, particularly preferably not exceeding 30 km / h, and very particularly preferably at a walking speed, and the proposed method is repeated during this process.

[0062] Multiple orientations and altitudes identified by repeatedly performing the methods in the first aspect can be combined, or clustered using clustering methods. Statistical criteria can be used to filter out incorrect or irrelevant determinations, and / or to identify which determined orientations and altitudes are associated with the same or different objects.

[0063] Parking space can be understood in particular as an area in the vehicle’s surrounding environment that is not occupied by any objects that are defined as tall and whose dimensions are larger than the vehicle’s dimensions, meaning that the vehicle can be parked parallel, diagonally, or laterally in this open area.

[0064] Parking trajectories can be determined using mathematical methods and / or machine learning, trained neural networks, etc.

[0065] A PID controller or similar device can be used to guide the vehicle along a parking trajectory. While it is moving, further ultrasonic measurements can be performed according to the method proposed in the first aspect, or further measurements can be performed using other types of sensors, in order to continuously update the information obtained about the lateral surrounding environment.

[0066] The third aspect proposes a computer program product including instructions that, when executed by a computer device, cause the latter to perform the method according to the first or second aspect.

[0067] Computer program products, such as computer program devices, can be provided or supplied as, for example, storage media such as memory cards, USB sticks, CD-ROMs, DVDs, or as files downloadable from a server on a network. This can be done, for example, by transmitting the corresponding files containing the computer program product or computer program device over a wireless communication network.

[0068] Computer equipment can be a component of parking assistance systems, in particular. This equipment can be embedded devices, vehicle control units (ECUs - Electronic Control Units), microcontrollers, industrial PCs, etc.

[0069] The fourth aspect proposes a measuring device for a parking assist system of a vehicle, the vehicle being equipped with at least one lateral ultrasonic transceiver, wherein the measuring device is configured to measure the lateral surrounding environment of the vehicle and includes: a) a first unit configured to activate at least one ultrasonic transceiver at at least two transmitting and receiving positions along a lateral direction (the lateral direction being the vehicle's direction of travel), for transmitting a first or second transmitted signal in a lateral direction across the direction of travel, and receiving corresponding first or second received signal characteristics reflected from the lateral surrounding environment; b) a second unit configured to identify the corresponding received signal. The features include: c) a third unit configured to perform trilateration of the azimuth of a first reflection point in the lateral surrounding environment, reflecting a first echo signal in chronological order from the first reflection point in the corresponding received signal feature; d) a fourth unit configured to select a chosen echo signal from a plurality of echo signals in one of the received signal features for dual echo determination based on the azimuth of the first reflection point, which is at least associated with the azimuth of the first echo signal in chronological order measured by the third unit; e) a fifth unit configured to determine whether the selected echo signal forms a dual echo with any other echo signal that is chronologically subsequent; and

[0070] f) The sixth unit is configured to: if the fifth unit detects a double echo, determine that the height of an object in the lateral surrounding environment at the reflection point where the selected echo signal is reflected is high; if the fifth unit does not detect a double echo, determine that the height is low.

[0071] The features, advantages, and embodiments described for the method in the first aspect are also applicable to the measuring device in the fourth aspect.

[0072] Each unit mentioned herein can be implemented in hardware and / or software. In the case of a hardware implementation, the applicable unit may be in the form of a computer or microprocessor, for example. In the case of a software implementation, the applicable unit may be in the form of a computer program product, function, routine, algorithm, part of program code, or executable object. Furthermore, each unit mentioned herein may also be in the form of part of a higher-level control system of a vehicle, such as a control unit (ECU: engine control unit).

[0073] The fifth aspect proposes a vehicle with a parking assistance system configured for semi-autonomous or fully autonomous driving of the vehicle, wherein the vehicle and / or the parking assistance system include the measuring devices of the fourth aspect.

[0074] The vehicle is, for example, a car or a truck. Preferably, the vehicle includes multiple sensor units configured to record the vehicle's driving status and its environment. Examples of such sensor units are image capture devices, such as cameras, radar (radio detection and ranging) or lidar (light detection and ranging), ultrasonic sensors, position sensors, wheel angle sensors, and / or wheel speed sensors. Each sensor unit is specifically configured to output sensor signals, for example, to a parking assistance system that performs semi-autonomous or fully autonomous driving based on the recorded sensor signals.

[0075] Other possible embodiments of the invention include combinations of features or embodiments not explicitly mentioned in the descriptions above or below with reference to exemplary embodiments. In such cases, those skilled in the art will also add individual aspects as improvements or additions to the corresponding basic form of the invention. Attached Figure Description

[0076] Further advantageous configurations and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention will now be explained in more detail based on preferred exemplary embodiments, with reference to the accompanying drawings.

[0077] Figure 1 A schematic diagram of the vehicle as seen from a bird's-eye view is shown;

[0078] Figure 2 A schematic diagram of an ultrasonic transceiver is shown, viewed from a bird's-eye view.

[0079] Figure 3 A schematic diagram of an ultrasonic transceiver as viewed along the longitudinal direction of the vehicle is shown.

[0080] Figure 4 A graph showing the intensity of the transmitted signal emitted by the ultrasonic transceiver is shown.

[0081] Figure 5 A graph showing the characteristics of the received signal is provided.

[0082] Figure 6 A schematic diagram illustrating the formation of double echoes in the case of high obstacles is shown;

[0083] Figure 7 A schematic diagram illustrating the absence of double echoes in the case of low obstacles is shown;

[0084] Figure 8 A schematic diagram illustrating trilateration is shown;

[0085] Figure 9 An example of measuring is shown. Figure 1 A flowchart of a method for assessing the lateral surroundings of a vehicle;

[0086] Figure 10 A functional block diagram of a corresponding measuring device according to an exemplary embodiment is shown;

[0087] Figure 11 A two-dimensional graph of the raw measurement data according to the first exemplary embodiment is shown;

[0088] Figure 12 A two-dimensional diagram of measurement data according to a first exemplary embodiment is shown after trilateration of the first reflection point;

[0089] Figure 13 A two-dimensional graph of the original measurement data according to a second exemplary embodiment is shown; and

[0090] Figure 14 A two-dimensional graph of the measurement data according to a second exemplary embodiment is shown after trilateration of all reflection points. Detailed Implementation

[0091] Unless otherwise stated, the same or functionally equivalent elements in the accompanying drawings are given the same reference numerals.

[0092] The basic configuration and principles for determining distance, orientation, and height in the lateral surrounding environment of a vehicle are explained by illustration and can be applied to all embodiments and exemplary embodiments of the present invention.

[0093] Figure 1 A schematic diagram of a vehicle 1 as viewed from a bird's-eye view is shown. Vehicle 1 is, for example, a car arranged in the surrounding environment 2. Vehicle 1 has a parking assistance system 3, for example, in the form of a control device. Multiple environmental sensor devices (not all shown) are also arranged on vehicle 1. Among the multiple environmental sensor devices, a lateral ultrasonic transceiver 4 is included in particular. The ultrasonic transceiver 4 is configured to transmit ultrasonic emission signals into the surrounding environment 2, specifically into an area of ​​the surrounding environment 2 of vehicle 1 referred to as the lateral surrounding environment 5, and to receive ultrasonic reception signal characteristics from the lateral surrounding environment 5. The parking assistance system 3 includes, in particular, a measuring device 6. The measuring device 6 is configured to determine the orientation and height of objects (obstacles) in the lateral surrounding environment 5 using the ultrasonic transceiver 4 according to the proposed method, and output these to the parking assistance system 3. Using the sensor signals recorded by the environmental sensor devices and the orientation and height determined by the measuring device 3, the parking assistance system 2 can drive vehicle 1 semi-automatically or fully automatically, particularly parking it in the parking space (not shown) of the lateral surrounding environment 5. In addition... Figure 1In addition to the ultrasonic transceiver 4 shown, the vehicle 1 may be equipped with other sensor devices. Examples of these other sensor devices are additional ultrasonic transceivers, optical sensors, visual cameras, radar and / or lidar, microphones, accelerometers, antennas with coupled receivers for receiving electromagnetically transmittable data signals, etc.

[0094] Figure 2 A schematic diagram of the ultrasonic transceiver 4 as seen from a bird's-eye view is shown. Figure 3 A schematic diagram of the ultrasonic transceiver 4 as viewed along the longitudinal direction of the vehicle is shown. Figure 4 A graph showing the intensity of the transmitted signal emitted by the ultrasonic transceiver 4 is shown.

[0095] The ultrasonic transceiver 4 transmits signals along the transverse axis 7. When the ultrasonic transceiver 4 is arranged as a lateral ultrasonic transceiver 4 on one side of the vehicle 1 ( Figure 1 The transverse axis 7 is arranged to span vehicle 1. Figure 1 That is to say, spanning the front-to-back or longitudinal direction of vehicle 1. Figure 1 The emitted signal comprises a signal lobe, i.e., it has a vertices α in the horizontal direction and β in the vertical direction. A cone defined by vertices α and β describes a three-dimensional surface in which the signal intensity of the emitted ultrasonic signal is reduced by a predetermined factor compared to the maximum signal intensity along the transverse axis. Figure 4 In the diagram, the angle with the horizontal axis is plotted on the x-axis, and the signal strength (sound pressure level in dB) is plotted on the y-axis. Curve 8 describes the signal strength characteristics in the horizontal plane, and curve 9 describes the signal strength characteristics in the vertical plane. Both the horizontal and vertical planes extend through the horizontal axis 7.

[0096] refer to Figures 1 to 5 . Figure 5 A graph showing the characteristics 10 of the received signal received by the ultrasonic transceiver 4 in response to the transmission of the transmitted signal is shown. Time t is plotted on the horizontal axis, and the sensor voltage output by the ultrasonic transceiver 4 is plotted on the vertical axis. This sensor voltage indicates the intensity of the received signal recorded by the ultrasonic transceiver 4, i.e., the recorded sound pressure level.

[0097] At time t0, the ultrasonic transceiver 4 transmits a signal. From time t0 to time t1, the ultrasonic transceiver immediately registers the reverberation of the transmitted signal. Therefore, the region of the received signal feature 10 from t0 to t1 cannot contain any information about the lateral surroundings 5 ​​of the vehicle 1, and is, for example, suppressed. At time t2, the amplitude of the received signal strength increases because the first echo signal arrives from the lateral surroundings 5 ​​of the vehicle 1. Time t2 in the received signal feature 10 can be identified as the reception time of the first echo signal in the received signal feature 10. At time t4, the amplitude of the received signal strength increases again, but does not reach the threshold voltage V. th Therefore, the region from t4 to t5 cannot be identified as an echo signal, but can be considered as an interference signal. From time t6 to time t7, a voltage exceeding the threshold voltage V is received from the side-facing environment 5 of the vehicle. th The second echo signal. Therefore, time t6 can be identified as the reception time of the second echo signal in received signal feature 10.

[0098] Figure 6 A schematic diagram of double echo formation in the case of high obstacles is shown. Figure 7 A schematic diagram is shown where double echoes do not exist in the case of low obstacles. (Refer back to reference) Figure 5 and Figure 1 To describe Figure 6 and Figure 7 . Figure 6 , 7 The arrows in the diagram show the propagation paths of the transmitted and echo signals.

[0099] Figure 6 This diagram illustrates how vehicle 1 travels along the lateral direction of travel 18 past parked vehicle 11 (object, obstacle). A transmitted signal emitted by ultrasonic transceiver 4 at time t0 propagates along the lateral axis 7 of vehicle 1 to a first point 12 on the surface of the parked vehicle 11, is reflected from there, and the reflected echo signal propagates back along the lateral axis 7, reaching ultrasonic transceiver 4 again at time t2. The distance between ultrasonic transceiver 4 and the first point 12 can be determined by multiplying the time difference between t2 and t0 by the speed of sound (343 m / s) and then dividing by 2. Therefore, the first point 12 is the first reflection point 12, and its distance can be determined based on the first echo signal appearing at time t2.

[0100] Another component of the transmitted signal's signal lobe propagates in a direction diverging from the transverse axis 7 to a second point 13 on the surface of the parked vehicle 11, from where it is reflected as a second echo signal to a third point 14 on the ground 15, and from there returns again to the transceiver 4, where it arrives at time t6. However, when evaluating the received signal characteristics 10, no information is available about the actual path of the arriving echo signal. Therefore, in the same manner as the first reflection point 12 described above, the distance from the virtual reflection point 16, which serves as the second reflection point, is determined, as follows: Figure 6 As shown, assuming the virtual reflection point 16 is located on the horizontal axis 7, the distance corresponds to half the signal propagation time between the transmission of the signal at time t0 and the arrival of the second echo signal at time t6.

[0101] The second reflection point 16 is also referred to as a “virtual” reflection point because the reflection does not actually occur at the determined distance from the ultrasonic transceiver 4, or at its azimuth for this trilateration (if trilateration is performed), as described later. Instead, for such virtual reflection points, the distance at which the reflection would occur is determined if the relevant echo signal were reflected only once rather than multiple times, or the azimuth as a result of trilateration.

[0102] Figure 7 This illustrates how vehicle 1 travels along the lateral direction of travel 18 past curb 17. A component of the signal lobe of the transmitted signal emitted at time t0 propagates from the ultrasonic transceiver 4 to a first point 12 on the curb 17, is reflected from there, and the reflected echo signal reaches the ultrasonic transceiver 4 at time t2. Therefore, the first point 12 is the first reflection point 12, its distance based on the first echo signal at t2, and... Figure 6 The driving situation shown is determined in the same way. Although similar to... Figure 6 As shown, there may also be double reflections from the curb 17 and then from the ground 15, but in this case, the time difference between the arrival of the double-reflected echo signal and the echo signal from the single reflection is very small, so that the two echo signals are identified as a single first echo signal in the received signal feature 10. Another component of the transmitted signal lobe propagates to a second point 13 on the ground 15 and is reflected away from there away from the vehicle 1 without reaching the ultrasonic transceiver 4.

[0103] Therefore, if it is possible to identify two echo signals in the received signal feature 10 that meet a specific criterion to form a double echo, it can be determined that a tall obstacle 11 exists in the lateral surrounding environment 5 of the vehicle 1. If it is possible to identify only one echo signal and / or two echo signals in the received signal feature 10, but these signals do not meet the specific criterion, it can be determined that a short obstacle 17 exists in the lateral surrounding environment 5.

[0104] One criterion for identifying a double echo signal is that the second echo signal has a lower intensity than the first echo signal. Another criterion is that the time difference between the arrival of the second echo signal and the arrival of the first echo signal corresponds to a direct reflection path. Figure 6 (4, 12, 4) and indirect reflection path ( Figure 6 The expected length difference between 4, 13, 14, and 4 in the equation. The maximum time interval between the two echo signals that leads to the determination of a double echo can preferably be set to 2 ms, which corresponds to a length difference of approximately 69 cm in the reflection path. In other words, in one example, a double echo can only be determined if the virtual reflection point 16, which serves as the second reflection point, is no more than 34.5 cm after the first reflection point 12.

[0105] For clarity, the following text also refers to the two reflection points that form a double echo (e.g., Figure 6 The first reflection point 12 and the virtual reflection point 16 as the second reflection point). However, this wording always implies that the correlated echo signal used to determine the distance from the correlated reflection points 12, 16 forms a double echo.

[0106] Figure 8 A schematic diagram of the trilateration of the orientation of the reflected point 12 is shown. Figure 8 The illustration shows vehicles 1 and 1' traveling laterally in direction 18 past curb 17 (a low obstacle or object), on which another vehicle 11 (a high obstacle or object) is parked diagonally. This vehicle is shown first with reference numeral 1 and second with reference numeral 1'. Correspondingly, ultrasonic transceivers 4 and 4' are indicated by reference numeral 4 at the first transmitting and receiving position and by reference numeral 4' at the second transmitting and receiving position.

[0107] Based on the above reference Figures 5 to 7 The described method involves transmitting the transmitted signal at a first transmitting and receiving position of the ultrasonic transceiver 4 at a first time, receiving the characteristics of the received signal, and determining the distance d from the first reflection point 12 of the reflected echo signal based on the time it takes to identify the echo signal in the received signal characteristics. Similarly, the distance d' from the first reflection point 12 is determined at a second transmitting and receiving position of the ultrasonic transceiver 4 at a second time. The orientation of the first reflection point 12 is then obtained as the intersection of a circle 19 with radius d centered at 4 around the first transmitting and receiving position and a circle 19' with radius d' centered at 4' around the second transmitting and receiving position. Therefore, Figure 8The driving configuration shown causes the orientation of the reflection point 12 to shift laterally relative to the transverse axes 7, 7' of the ultrasonic transceivers 4, 4'. Therefore, trilateration can improve the accuracy of the actual orientation of the reflection point 12 compared to the initial assumed orientation at the corresponding intersection between the transverse axes 7, 7' and the circles 19, 19'.

[0108] Figure 9 A flowchart of the method is shown. Figure 10 A functional block diagram of a measuring device 6 for measuring the lateral surrounding environment 5 of a vehicle 1, according to an exemplary embodiment, is shown. (Combined with...) Figure 1 and Figure 8 refer to Figure 9 and Figure 10 .

[0109] The measuring device 6 includes first to sixth units 21-26. In step S1 of the proposed method, the first unit 21 of the measuring device 6 actuates the ultrasonic transceiver 4 at a first transmitting and receiving position at 4 at a first time, causing the transceiver to transmit a first transmitted signal along the transverse axis 7 and receive a first reflected received signal characteristic from the side to the surrounding environment 5. The first unit 21 activates the ultrasonic transceiver 4' at a second transmitting and receiving position at 4' at a second time, causing the transceiver to transmit a second transmitted signal along the transverse axis 7' and receive a second reflected received signal characteristic from the side to the surrounding environment 5. The received received signal characteristic is provided to the measuring device 6.

[0110] In step S2 of the proposed method, the second unit 22 receives the corresponding signal characteristics ( Figure 5 In step 10), multiple echo signals are identified. The second unit 21 preferably identifies signal strengths in corresponding received signal characteristics that are higher than a predetermined or variable threshold. Figure 5 V in th All echo signals.

[0111] In step S3, the third unit 23 measures the orientation of the first reflection point 12 in the surrounding environment 5 from three sides, and the first echo signal in the first and second received signal features in time sequence is reflected from the first reflection point 12.

[0112] In step S4, the fourth unit 24 of the measuring device 6 first selects one of two received signal features, hereinafter referred to as the "first" or "selected" received signal feature. The fourth unit 24 then selects one of the identified echo signals from the selected received signal feature for dual-echo determination. According to the proposed method, this selection is made at least based on the orientation of the first reflection point 12 from which the first echo signal of the two received signal features is reflected in chronological order, the first reflection point 12 being measured by the third unit 23 in step S3. Based on the chronological orientation of the first reflection point 12, for example, the first echo signal of the two received signal features in chronological order, or other signals, such as the second or third echo signal of the two received signal features in chronological order, are selected for dual-echo determination. The criteria for this selection are illustrated below using exemplary embodiments.

[0113] In step S5, the fifth unit 25 determines whether the selected echo signal forms a double echo with any other echo signal that is later in time.

[0114] In step S6, the sixth unit 26 determines that if a double echo is detected in step e), the height of the object 11 in the lateral surrounding environment 5 at the reflection point 12 where the selected echo signal is reflected is determined to be high; if no double echo is detected, the height is determined to be low.

[0115] For details regarding dual echoes and altitude determination, please refer specifically to the above references. Figures 4 to 7 The given description states that the determination of the double echo does not necessarily have to be based on time t2( Figure 5 The first echo signal appearing in the received signal feature 10 in time sequence and at time t6 ( Figure 5 The execution is performed not based on the second echo signal appearing later in the time sequence in the received signal feature 10, but rather on the result of the trilateration in step S3, or based on the second echo signal appearing at time t6 in the time sequence and Figure 5 The third echo signal, which is not shown in the diagram, is executed in chronological order.

[0116] Figure 11 A vehicle 1 according to a first exemplary embodiment is shown. Figure 8 A two-dimensional curve plot of the original measurement data in the lateral surrounding environment 5.

[0117] In the lateral surrounding environment 5, multiple vehicles 31, 32, and 33 (objects, obstacles) are parked side by side and parallel to each other in the lateral direction. In this case, the front of the vehicle 32 parked in the middle is significantly rearward in the lateral direction compared to the front of the vehicles 31 and 33 parked on the sides.

[0118] Raw measurement data is obtained through driving Figure 11 Vehicle 1 (not shown) Figure 8 ) and measuring equipment 7 ( Figure 1 The method was obtained by repeating the proposed method along the lateral driving direction 18 and at multiple measurement locations 41-44.

[0119] Vehicle 1 ( Figure 8 ) ultrasonic transceiver 4 ( Figure 8 The direction of the lateral axes 71-74 of the vehicle is referred to as the lateral direction in the current context, and vehicle 1 ( Figure 8 The direction of travel along the measurement positions 41-44 is called the lateral direction 18.

[0120] Vehicle 1 ( Figure 8 The corresponding first transmitting and receiving positions of the ultrasonic transceiver 4 are located at measurement positions 41-44, where a corresponding first echo signal is transmitted and a first echo signal characteristic is received. Figure 11 The relevant second transmit and receive positions are not shown, at which corresponding second transmit signals are transmitted and second echo signal characteristics are received for the purpose of trilateration. They are located between the corresponding measurement positions 41-44, and in particular, midway between two corresponding measurement positions 41; 42, 42; 43, 43; 44.

[0121] "Raw measurement data" means assuming the first echo signal travels directly along the ultrasonic transceiver 4 ( Figure 1 , 8 In the case of reflections along the corresponding transverse axes 71, 72, 73, and 74, the original orientation of the reflection points 111-133 of the corresponding echo signals is plotted. Figure 11 (Not shown in the image).

[0122] Specifically, Figure 11 The diagram shows: first reflection points 111, 112, 113, and 114 (solid line points), whose distances are determined based on the time-sequential first echo signals of each first received signal feature; second reflection points 121, 122, 123, and 124 (double shaded points), whose distances are determined based on the time-sequential second echo signals of the corresponding first received signal features; and two third reflection points 132 and 133 (single shaded points), whose distances are determined based on the time-sequential third echo signals of the first received signal features at the second measurement position 42 and the third measurement position 43. No time-sequential third echo signals were identified at the first measurement position 41 and the fourth measurement position 44.

[0123] Figure 11The measurement at measurement position 42 deserves special attention. Reflection point 112 traces back to the first echo signal reflected in chronological order from the vehicle 31, which is parked at a lateral offset relative to measurement position 42, and arrives at the ultrasonic transceiver 4 at the transmitting and receiving positions of the second measurement position 42 faster than the second echo signal reflected in chronological order from the vehicle 32 parked in a rear position along the lateral axis 72. Figure 8 ).

[0124] Specifically, the non-tectonic measurement orientation of the first reflection point 112 along the lateral axis 72 is significantly greater than 34.5 cm from the non-tectonic measurement orientation of the second reflection point 122 at the same measurement position 42. Therefore, the first reflection point 112 and the second reflection point 122 will not be identified as a double echo. This, of course, prevents tall objects from being mistakenly identified at the "original" orientation 112 of the first reflection point. However, the first reflection point 112 obscures the double echo formed by the second reflection point 122 and the third reflection point 132 behind it. Therefore, a rear-positioned vehicle 32 will not be detected at the second measurement position 42, and there is a risk that a vehicle 32 parked in a reverse position will not be detected and will be identified as a tall object in the lateral surroundings 5. The same applies to the third measurement position 43.

[0125] According to the proposed method, this is achieved by trilateration of the azimuth of the corresponding first reflection point, where the corresponding first echo signal is reflected. That is, not only are the first transmit and receive signals transmitted and received at the first transmit and receive positions (corresponding to measurement positions 41, 42, 43, 44) at the corresponding measurement positions 41, 42, 43, 44, but also at a second transmit and receive position offset laterally (not shown; between the two measurement positions) at a second transmit and receive position (between the two measurement positions). The azimuth of the first reflection points 111, 112, 113, 114 is then trilaterated based on the corresponding time-sequential first echo signals in the corresponding first and second receive signal characteristics.

[0126] Figure 12 A two-dimensional graph of measurement data according to a first exemplary embodiment is shown after trilateration measurements of the first reflection points 111, 112, 113, and 114. The first reflection point 111 at the first measurement position 41 deviates only slightly from the lateral axis 71 and is not considered a lateral offset. In contrast, the first reflection point 112 at the second measurement position 42 is significantly laterally offset relative to the lateral axis 72 and is considered a lateral offset.

[0127] According to a current exemplary embodiment of the proposed method, the echo signals intended for dual-echo determination are selected based on the trilateration orientation of each of the first reflection points 111-114. Specifically, the corresponding time-sequential first echo signals are selected only if the reflection points 111, 114 associated with the time-sequential first echo signals are not considered to have lateral offset. Reflection points 111, 114 are considered to have no lateral offset, particularly if their lateral offset relative to the associated lateral axes 71, 74 does not exceed a predetermined tolerance interval. The predetermined tolerance interval is, in particular, a predetermined portion or a predetermined multiple of the distance between the first and second transmit and receive positions at the corresponding measurement positions 41, 44. The predetermined portion or predetermined multiple can be, for example, one.

[0128] However, if the first reflection points 112 and 113 are considered to be laterally offset based on the above criteria, the second exemplary embodiment involves selecting the corresponding second echo signals 122 and 123 without performing further trilateration.

[0129] Therefore, the first exemplary embodiment relates to performing dual-echo determination at the first measurement position 41 based on the first reflection point 111 and the second reflection point 121 thereafter. At the second measurement position 42, the first reflection point 112 is greater than half the distance between measurement positions 41 and 42, and therefore greater than twice the distance between the first and second transmit and receive positions of the measurement at measurement position 41 and / or the measurement at measurement position 42. Therefore, dual-echo determination at the second measurement position 42 is performed based on the second reflection point 122 and the third reflection point 132 thereafter.

[0130] Therefore, it is advantageous that the third reflection point 132 can be identified as a virtual reflection point forming a double echo together with the second reflection point 122. A high obstacle, i.e., a vehicle 32 parked in a rear position, can be identified as being located at the orientation of the second reflection point 122. Particularly advantageous is that this does not require trilateration of the orientation of the second reflection point 122 and / or the third reflection point 132; instead, trilateration of only the orientation of the first reflection point 112 is sufficient. If the first reflection point 112 is laterally offset relative to the lateral axis 72, it can be assumed that it blocks further reflections occurring along the lateral axis 72. Making such an assumption without simultaneously performing trilateration of the other reflection points 122, 132 may be advantageous, as trilateration of the second and other reflection points based on the later temporal sequence of the echo signal in the corresponding received signal characteristics may become increasingly susceptible to uncertainty or measurement inaccuracies.

[0131] For the third measurement position 43, dual-echo determination is performed accordingly based on the second reflection point 123 and the third reflection point 133. For the fourth measurement position 44, dual-echo determination is performed based on the first reflection point 114 and the second reflection point 124.

[0132] Therefore, it is possible to effectively prevent the reflection points 112 and 113 on the longer vehicles 31 and 33 parked next to it from being blocked by the vehicle 32 parked in the rear position, without having to perform trilateration on the orientation of the second or third reflection points 121-124, 132 and 133.

[0133] If a double echo is determined in the first exemplary embodiment, wherein the front reflection points are non-trilate measurement second reflection points 122, 123, then the orientation of the object 32 at the front reflection points 122, 123 of the double echo is determined as the non-trilate measurement orientation of the front reflection points 122, 123. That is, the orientation of the object 32 is located at a distance on the transverse axes 72, 73 from the corresponding measurement positions 42, 43, which is determined based on the time difference between the reception of the selected, time-sequential second echo signal reflected from the preceding second reflection points 122, 123 and the transmission of the associated transmission signal. If the front reflection points 111, 114 of the double echo are determined to be first reflection points 111, 114, then the orientation of the object 32 is determined as the trilateration orientation of the associated first reflection points 111, 114.

[0134] Figure 13 A vehicle 1 according to a second exemplary embodiment is shown. Figure 8 A two-dimensional graph of the original measurement data in the lateral surrounding environment 5 of vehicle 1. The lateral surrounding environment 5 of vehicle 1 is the same as that in the first exemplary embodiment, but the measurement interval between measurement positions 41-47 in the second exemplary embodiment is different. Figure 11 The first exemplary embodiment is more compact than, for example, because vehicle 1 ( Figure 8 Travel at a lower speed along the lateral direction of travel 18.

[0135] Figure 13 The non-trilate measurement azimuths of the first reflection points 111-117, the second reflection points 121-127, the third reflection points 132, 133, 135, 136, and the fourth reflection points 142, 146 are shown. The first, second, third, and fourth echo signals in the corresponding time sequence of the two received signal characteristics measured at the corresponding measurement positions 41-48 are reflected from these reflection points.

[0136] Only at the fourth measurement position 44, the pair of reflection points consisting of the first and second reflection points 114 and 124 (non-trilate measurement) form an unobstructed double echo, indicating that vehicle 31 is parked in the rear position. The remaining reflection points 132, 123, 125, 136, 142, 133, 135, and 146 of vehicle 32, which is parked in the rear position, are obstructed by reflection points 112, 122, 113, 115, 116, and 126 on the longer vehicles 31 and 33, which are parked in a laterally offset position and are located further forward in the lateral direction.

[0137] According to the second exemplary embodiment, the orientations of all identified first, second, third, and fourth reflection points 111-146 are determined by trilateration.

[0138] Figure 14 A two-dimensional graph of measurement data after trilateration of reflection points 111-146 based on the corresponding correlated echo signals according to the second exemplary embodiment is shown. A clear image is obtained in which the vehicle 32 parked in the rear position is no longer obscured by the vehicles 31 and 33 parked next to it.

[0139] According to the second exemplary embodiment, based on the orientation of the relevant reflection points measured by the trilateration during the corresponding measurement, at least one selected reflection point and a corresponding chronologically ordered subsequent reflection point are selected for each measurement location 41-47 for the double echo.

[0140] It should be noted that in the second exemplary embodiment, vehicle 1 ( Figure 8 The vehicle's speed is lower than that of the first exemplary embodiment; therefore, the distance between adjacent measurement positions 41-47 is shorter, and thus the distance between the corresponding first and second transmitting and receiving positions is also shorter for the corresponding measurement. Therefore, the tolerance range of the second exemplary embodiment can be smaller than that of the first exemplary embodiment for determining whether the corresponding trilateration orientation of one of the reflection points 111-146 is considered a lateral offset. In particular, it can be based on the vehicle 1 ( Figure 8 The driving speed is used to determine whether the corresponding trilateration orientation for one of the reflection points 111-146 is considered to be within the tolerance range of lateral offset.

[0141] In a first variation of the second exemplary embodiment, only those reflection points that are not considered to be laterally offset relative to the corresponding relevant lateral axes 71-77, according to the principles explained using the first exemplary embodiment, are selected for dual-echo determination. Figure 14 In the middle, these are the first reflection points 111, 114 and 117 and the second reflection points 123 and 125.

[0142] Furthermore, in the development of the first variant, another criterion used to determine the presence of double echoes is that reflection points 121, 124, 127, 133, and 135, even those following the selected reflection points 111, 114, 117, 123, and 125 in chronological order, are not considered to be laterally offset relative to the corresponding transverse axes 71, 73, 74, 75, and 77. This is true in all cited examples.

[0143] Therefore, pairs 111; 121, 114; 124 and 117; 127 consisting of the first and second reflection points, and pairs 123; 133, 125; 135 consisting of the second and third reflection points, can be used to determine the double echo in each case.

[0144] In a second variation of the second exemplary embodiment, multiple, preferably all, reflection points 111-146 are selected for double echo determination. However, another criterion for determining the presence of double echo is that reflection points 111-146 that follow the selected reflection points 111-146 in time sequence are not considered to be laterally offset relative to the corresponding selected reflection point 111-146.

[0145] Based on these principles, Figure 14 The selection of reflection points and the subsequent reflection points in the corresponding measurements, arranged chronologically, can be used to determine the most recent reflection point. Figure 14 The reflection points are arranged further back to determine the following double echoes: first reflection points 111, 112, 114, 116, 117 and corresponding second reflection points 121, 122, 124, 126, 127; second reflection points 123, 125 and corresponding third reflection points 133, 135 in chronological order; and third reflection points 132, 136 and corresponding fourth reflection points 142, 146 in chronological order.

[0146] In a second variant of the second exemplary embodiment, the orientation and height of the parked vehicles 31, 32, and 33 can be correctly determined using a total of nine orientations in the lateral surrounding environment 5, namely the orientations of reflection points 111, 112, 132, 123, 114, 125, 136, 116, and 117; of these nine orientations, eight were initially obscured and have become visible by the proposed method.

[0147] As described based on several exemplary embodiments, the proposed method makes the obscured dual echoes visible. This allows for an increase in the number of measurement points containing height and orientation information in the side surrounding environment 5, and for measuring the side surrounding environment 5 with greater accuracy.

[0148] After measuring the lateral surroundings 5 ​​by repeatedly executing the proposed method, vehicle 1 ( Figure 1 Parking assist system 3 ( Figure 1 ) can be determined in the lateral surrounding environment 5 to not have objects 31, 32, 33 that are determined to be tall. Figure 11-14 The proposed method provides parking space and allows vehicles to be parked within the designated parking space. Therefore, the proposed method also facilitates the use of the proposed measuring device 6 ( Figure 1 , 10 Parking vehicles more safely and without collisions.

[0149] Although the invention has been described based on exemplary embodiments, the invention can be modified in various ways.

[0150] Figure 1 The measuring device 6 is shown as part of the parking assist system 3. However, alternatively, the measuring device 6 can also be arranged separately in the vehicle 1. The measuring device 6 can also be integrated with the ultrasonic transceiver 4 to form a unit.

[0151] The proposed teaching has been described based on simplified assumptions that vehicle 1 and ultrasonic transceiver 4 are in the same transmitting and receiving position when transmitting the signal and throughout the reception of the received signal characteristics, and then move to the next transmitting and receiving position where they again perform stationary transmitting and receiving. However, it goes without saying that vehicle 1 can preferably travel at a uniform speed along the lateral direction 18. In this case, the transmitting position of the transmitted signal differs from the corresponding receiving position of each echo signal in the received echo signal characteristics. It will not be difficult for those skilled in the art to make appropriate modifications to the geometric, trigonometric, or mathematical observations disclosed herein.

[0152] List of reference numerals

[0153] 1, 1' Vehicle

[0154] 2. Surrounding environment

[0155] 3 Parking Assist System

[0156] 4' Ultrasonic transceiver

[0157] 5. Lateral view of the surrounding environment

[0158] 6. Measuring equipment

[0159] 7. Horizontal axis

[0160] 8. Horizontal characteristics of transmitted signal strength

[0161] 9. Vertical characteristics of transmitted signal strength

[0162] 10. Characteristics of Received Signals

[0163] 11 Other parked vehicles

[0164] 12 First point, first reflection point

[0165] 13 Second point

[0166] 14. Third point

[0167] 15 Ground

[0168] 16. Virtual reflection point, second reflection point

[0169] 17. Curbstones

[0170] 18 Lateral direction

[0171] 19, 19' circle

[0172] Units 1-6, 21-26

[0173] 31-33 Obstacles, objects, parked vehicles

[0174] 41-47 First to Fourth Measurement Positions

[0175] 71-77 First to Seventh Horizontal Axes

[0176] Reflection points 111-146

[0177] t0-t6 time

[0178] d, d' distance

[0179] V th threshold

[0180] S1-S6 method steps.

Claims

1. A method for measuring the lateral surrounding environment (5) of a vehicle (1), the vehicle being equipped with at least one lateral ultrasonic transceiver (4), the method comprising the steps of: a) Actuate (S1) at least two transmitting and receiving positions along a lateral direction (18), the lateral direction being the direction of travel of the vehicle (1), the actuation being intended to transmit a corresponding transmitting signal in a lateral direction across the direction of travel (18) and receive a corresponding receiving signal feature (10) reflected from the lateral surrounding environment (5). b) Identify (S2) multiple echo signals in the corresponding received signal features (10); c) Trilateral measurement (S3) of the orientation of the first reflection point (111-117) in the lateral surrounding environment, wherein the first echo signal in the corresponding received signal feature (10) is reflected from the first reflection point in chronological order; d) Select (S4) one echo signal from one of the received signal features (10) for dual echo determination based at least on the orientation of the first reflection point (111-117) associated with the first echo signal measured in time sequence by the trilateration in step c); e) Determine whether the selected echo signal (S5) forms a double echo with any other echo signal that is later in time; and f) If a double echo is detected in step e), the height of the object (31-33) in the lateral surrounding environment (5) at the reflection point (111-136) where the selected echo signal is reflected is determined to be high; if no double echo is detected, the height is determined to be low.

2. The method according to claim 1, characterized in that, Step c) includes trilateration of at least one orientation of the second reflection point (121-146) in the lateral surrounding environment (5), wherein the second echo signal in the corresponding received signal feature (10) is reflected from the second reflection point in chronological order, and Based on the orientation of the reflection points (111-146) of the selected echo signal measured by the trilateration in step c) and / or based on the orientation of the reflection points (111-146) of the echo signal measured by the trilateration in step c), in step d) an echo signal is selected for double echo determination and / or in step e) it is determined whether the selected echo signal forms a double echo with another echo signal that is measured by the trilateration in step e).

3. The method according to claim 2, characterized in that, Step d) includes selecting an echo signal in one of the received signal features (10) for the corresponding dual echoes, for the relevant reflection points (111, 112, 123, 114, 125, 116, 117) of the echo signal, and in step c) measuring the azimuth of the relevant transmit and receive positions relative to the one received signal feature without lateral offset.

4. The method according to claim 2 or 3, characterized in that, Step e) includes detecting dual echoes only under the following conditions: for the reflection points (111, 121, 112, 122, 123, 133, 114, 124, 125, 135, 116, 126, 117, 127) associated with the selected echo signal and the echo signal in chronological order, trilaterations were performed in step c) on each azimuth with no lateral offset from the associated transmit and receive positions relative to a received signal characteristic.

5. The method according to claim 2 or 3, characterized in that, Step e) includes detecting double echoes only if the azimuth of the trilateration measured in step c) for the reflection points (111, 112, 132, 123, 114, 125, 116, 136, 117) associated with the selected echo signal has no lateral offset and the trilateration of the reflection points (121, 122, 142, 133, 124, 135, 126, 146, 126) associated with the later echo signal in time sequence is measured in step c).

6. The method according to claim 1, characterized in that, Step d) includes: if the orientation of the first reflection point (112, 113) measured by the three sides in step c) is laterally offset relative to the relevant transmission and reception positions of the received signal feature (10), then the second echo signal in the received signal feature in chronological order is selected for dual echo determination; otherwise, the first echo signal in chronological order is selected.

7. The method according to any one of claims 1 to 3, characterized in that, Step e) includes detecting dual echoes only when the time interval between the selected echo signal in the one received signal feature (10) and the echo signal that follows in chronological order is less than a predetermined maximum interval.

8. The method according to any one of claims 1 to 3, characterized in that, Step e) includes detecting dual echoes only when the signal strength of the later echo signal in chronological order is not higher than the signal strength of the selected echo signal, and the deviation between the signal strength of the later echo signal and the selected echo signal does not exceed a predetermined factor.

9. The method according to any one of claims 1 to 3, characterized in that, Based on the driving speed of the vehicle (1), a corresponding tolerance range is determined for whether the orientation of the corresponding trilateration is laterally offset.

10. The method according to any one of claims 1 to 3, characterized in that, g) Based on the time difference between the reception of the selected echo signal in the one received signal feature (10) and the transmission of the associated transmitted signal, and based on the lateral direction of the driving direction (18) of the vehicle (1), determine the orientation of the object (31-33) whose height was determined in step f).

11. The method according to claim 10, characterized in that, g) Determine the orientation of the object (31-33) whose height was determined in step f) as the orientation of the reflection point (111, 112, 132, 123, 114, 125, 116, 136, 116, 117) where the selected echo signal is reflected by the trilateration in step c).

12. A method for parking a vehicle (1), the vehicle being equipped with at least one lateral ultrasonic sensor (4) and a parking assist system (3), the method comprising: The method according to any one of claims 1 to 11 is repeatedly performed at multiple locations (41-47) along a direction of travel (18) parallel to the lateral surroundings (5) of the vehicle (1) in order to determine the orientation and height of one or more objects (31-33) in the lateral surroundings (5) of the vehicle (1); Determine a parking space in which no tall objects (31-33) are identified in the lateral surrounding environment (5); and The vehicle (1) is parked in the parking space using the parking assist system (3).

13. A computer program product comprising instructions that, when executed by a computer device, cause the latter to perform the method according to any one of claims 1 to 12.

14. A measuring device (6) for a parking assistance system (3) of a vehicle (1), said vehicle being equipped with at least one lateral ultrasonic transceiver, wherein, The measuring device (6) is configured to measure the lateral surrounding environment (5) of the vehicle (1) and includes: a) A first unit (21) is configured to actuate at least one ultrasonic transceiver (4) at at least two transmitting and receiving positions along a lateral direction (18), the lateral direction being the direction of travel of the vehicle (1), the actuation being intended to transmit a corresponding transmitting signal in a lateral direction across the direction of travel (18) and receive a corresponding receiving signal feature (10) reflected from the lateral surrounding environment (5). b) The second unit (22) is configured to identify multiple echo signals in the corresponding received signal features (10); c) The third unit (23) is configured to perform trilateration on the orientation of the first reflection point (111-117) in the lateral surrounding environment (5), wherein the first echo signal in the corresponding received signal feature (10) in chronological order is reflected from the first reflection point; d) The fourth unit (24) is configured to select a selected echo signal from one of the multiple echo signals of the received signal features (10) based on the orientation of the first reflection point (111-117) which is at least related to the first echo signal measured by the third unit (23) in time sequence for dual echo determination; e) The fifth unit (25) is configured to determine whether the selected echo signal forms a double echo with any other echo signal that is chronologically later; and f) The sixth unit (26) is configured to: if the fifth unit (25) has detected a double echo, determine that the height of the object in the lateral surrounding environment (5) at the reflection point (111-136) where the selected echo signal is reflected is high, and if the fifth unit (25) has not detected a double echo, determine that the height is low.

15. A vehicle (1) having a parking assistance system (3), said parking assistance system being configured for semi-autonomous or fully autonomous driving of said vehicle (1), wherein, The vehicle (1) and / or the parking assistance system (3) include the measuring device (6) according to claim 14.

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