Method for adapting ultrasonic measured values, ultrasonic sensor unit, program, medium and vehicle

Abstract

The invention relates to a method (100) for adapting ultrasonic measured values, comprising the following steps: ascertaining (S1) a reference curve on the basis of an orientation (204) of an ultrasonic sensor element (202) which is designed to output at least one ultrasonic measured value and on the basis of a ground reference, and ascertaining (S2) a reference curve on the basis of the at least one ultrasonic measured value, according to the invention, a reference curve is created (S2), a measured value curve is created (S2), a deviation value is created (S3) on the basis of a ratio between the measured curve and the reference curve over a predetermined period of time, and a threshold function is determined (S4) on the basis of the deviation value and on the basis of the reference curve. The invention also relates to an ultrasonic sensor unit, a computer program, a computer-readable medium and a vehicle.

Description

Technical Field

[0001] The invention relates to a method for adapting ultrasonic measured values, an ultrasonic sensor unit, a computer program, a computer-readable medium and a vehicle. Background Art

[0002] Currently, there are many different solutions for preprocessing ultrasonic measured values ​​in the automotive industry. Due to the increasing number of ultrasonic sensors in the automotive industry and the increasing requirements on the evaluation quality, the demand for innovative and robust methods for evaluating ultrasonic measured values ​​continues to increase.

[0003] The cost pressure caused by the continuous reduction of weight in the vehicle sector in order to reduce consumption and the increasing competition are increasing the demand for advantageous and more efficient components for vehicles. Summary of the invention

[0004] Compared to the known, the method according to the invention for adapting ultrasonic measured values ​​has the following advantages: the detection sensitivity of the ultrasonic sensor can be improved by the adapted threshold value calculation. In this case, the threshold value can be calculated using basic knowledge about the course of the received signal in order to thereby achieve a better adaptation to the ground. As a result, the detection accuracy of the ultrasonic sensor element or the ultrasonic sensor unit can be further improved.

[0005] According to the invention, this is achieved in that the method for adapting ultrasonic measured values ​​has the following steps:

[0006] determining a reference curve based on an orientation of an ultrasonic sensor element, which is designed to output at least one ultrasonic measured value, and based on a ground reference,

[0007] constructing a measured value curve based on the at least one ultrasonic measured value,

[0008] Based on the ratio between the measured value curve and the reference curve over a predetermined period of time, a deviation value is constructed,

[0009] Based on the deviation value and based on the reference curve, a threshold function is obtained.

[0010] In other words, the threshold value for the ultrasonic measured value is determined adaptively, dynamically or in a time-dependent manner, so that the ultrasonic measured value can be better analyzed and processed. In this case, it can be determined in particular according to the orientation or installation direction of the ultrasonic sensor element and the ground reference. For example, the vehicle can have a plurality of ultrasonic sensor elements, wherein for each of the different ultrasonic sensor elements, there is a corresponding orientation, but a predefined ground or ground reference is used to construct a reference curve. Further preferably, the measurement curve is created or generated and / or constructed based on the time variation curve and the ultrasonic measured values. Further preferably, the deviation value is set to be proportional based on the integral of the reference curve and the integral of the measured value curve, wherein the integral is formed in particular within the duration of a predetermined time period. Therefore, a deviation value or a difference (Delta) or the like can be obtained. For example, the integral of the received signal at each time point in the predetermined time period can be divided by the integral of the reference curve, so that in particular a deviation value from the reference curve can be constructed. In addition, a threshold function is obtained, which is in particular based on the deviation value and the reference curve.

[0011] Preferred embodiments of the invention are described below.

[0012] Further preferably, the method comprises the following steps:

[0013] An output value is ascertained based on the ascertained threshold value function and based on the at least one ultrasonic measured value.

[0014] The advantage of this embodiment is that the output value of the ultrasonic measured value can be improved by means of the method, so that a more accurate detection or a higher quality ultrasonic measured value signal can be output.

[0015] Further preferably, the method further comprises the following steps:

[0016] adapting the deviation value in order to form a filtered deviation value, wherein the filtered deviation value has no value within a predetermined range,

[0017] Based on the filtered deviation values ​​and on the basis of the reference curve, a threshold function is determined.

[0018] The advantage of this embodiment is that the stochastic nature of the received signal can be compensated for by adapting the deviation value, in that the deviation value can be filtered or smoothed, thereby further improving the threshold value calculation.

[0019] Further preferably, the method further comprises the following steps:

[0020] receiving and / or selecting a parameter set for adjusting the sensitivity,

[0021] Based on the filtered deviation values, the reference curve and based on the parameter set, a threshold function is determined.

[0022] The advantage of this embodiment is that, using the sensitivity, it is possible to react to the respective environmental situation or usage situation in order to further improve the calculation of the threshold value function.

[0023] Preferably, the method further comprises the following steps:

[0024] determining a change in the filtered deviation value over a predetermined time period,

[0025] Comparing the change in the filtered deviation value with a reference curve for determining the echo in the ultrasonic value,

[0026] The filtered deviation value is adapted to eliminate echoes in the filtered deviation value.

[0027] The advantage of this embodiment is that if the changes in the filtered deviation values ​​have jumps or anomalies or artifacts, these jumps or anomalies or artifacts can be classified as echoes of the ultrasonic values ​​so that they can subsequently be excluded or eliminated in the filtered deviation values. Thus, the threshold calculation is freed from possible echoes in the ultrasonic values ​​or ultrasonic data set.

[0028] Further preferably, the method comprises the following steps:

[0029] Determine the signal-to-noise ratio in the measured value curve,

[0030] When the signal-to-interference ratio is greater than a predetermined limit value, a threshold function is adapted.

[0031] The advantage of this embodiment is that high sensor noise generated by external acoustic sources or electromagnetic interference can be subtracted from the measured value curve, so that the model prediction can be further improved by means of a threshold value. For example, the signal-to-noise ratio can be determined at the beginning and / or the signal-to-noise ratio of a previous measurement can be used.

[0032] Further preferably, the method further comprises the following steps:

[0033] Detecting and / or selecting environmental parameters of ultrasonic sensor elements,

[0034] Adapt the reference curve according to the environmental parameters.

[0035] The advantage of this embodiment is that the calculation of the threshold value function can be taken into account in the calculation of the threshold value, and the possible environmental parameters are, for example, air temperature and air humidity or similar parameters that can influence the air sound absorption of the ultrasonic signal. Therefore, the stability of the threshold value calculation can be further improved.

[0036] Further preferably, the method further comprises the following steps:

[0037] The deviation value is started based on a start value, wherein the start value is a measured value outside a predetermined time period and / or the start value is a historical value of a previous measurement.

[0038] The advantage of this embodiment is that the calculation of the threshold value function is shortened, because by starting the deviation value with the start value, the integration time of the correction factor is shortened. Therefore, previously measured or predetermined values ​​can be used to steer the deviation value onto the correct track.

[0039] Further preferably, the predetermined time period has a first limit value and a second limit value, wherein the method further comprises the following steps:

[0040] The predetermined time period is adapted for the time range between the first limit value and the second limit value.

[0041] The advantage of this embodiment is that the predetermined time period in which the received signal or the measured value curve and the reference curve are integrated can be continuously adapted. For example, the following evaluation window is defined: the evaluation window is defined as a predetermined time period, which has a value to the left of the currently observed time point and a value to the right thereof, which can be up to + / -6 ms, for example. Thus, within this time period, an integral can be formed with respect to the measured value curve and with respect to the reference curve, so that a deviation value can thus be determined.

[0042] It is further preferred that the predetermined time period has a reference and a third limit value, wherein the method further comprises the following steps:

[0043] A predetermined time period between the reference and the third limit value is constructed.

[0044] The advantage of this embodiment is that the predetermined time period can be significantly increased because it is a continuously growing window. Thus, the measured value curve and the reference curve can be integrated between the starting point and the current time range plus the difference (e.g. one millisecond) so that the deviation value can be calculated accordingly.

[0045] A further aspect of the invention relates to an ultrasonic sensor unit which is designed to detect at least one ultrasonic measured value and to carry out the steps of the method as described above and below.

[0046] A further aspect of the invention relates to a computer program which is designed to carry out the steps of the method as described above and below.

[0047] Another aspect of the invention relates to a computer-readable medium on which is stored a computer program as described above and below.

[0048] A further aspect of the invention relates to a vehicle which has an ultrasonic sensor unit as described above and below and / or is configured to carry out the steps of the method as described above and below. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings:

[0050] Figure 1 and Figure 2 A flow chart is shown for explaining the steps of a method according to one embodiment.

[0051] Figure 3 shows an ultrasonic sensor unit,

[0052] Figure 4 Showing the vehicle,

[0053] Figure 5 A diagram is shown for explaining a method according to one specific embodiment.

[0054] Preferably, all identical components, elements and / or units are provided with the same reference symbols in all figures. DETAILED DESCRIPTION

[0055] Figure 1 A flow chart is shown for explaining the steps of a method 100 according to one specific embodiment. Preferably, the method 100 for adapting ultrasonic measured values ​​has the following steps:

[0056] determining an S1 reference curve based on an orientation 204 of an ultrasonic sensor element 202 , which is configured to output at least one ultrasonic measured value, and based on a ground reference,

[0057] constructing an S2 measured value curve based on the at least one ultrasonic measured value,

[0058] Based on the ratio between the measured value curve and the reference curve within a predetermined time period, an S3 deviation value is constructed,

[0059] Based on the deviation value and the reference curve, the S4 threshold function is obtained.

[0060] Figure 2 A flow chart is shown for explaining the steps of a method 100 according to one embodiment. Figure 2 The method 100 in has the same Figure 1 The method 100 is preferably the same steps S1 to S4 as the steps S1 to S4 described in the previous embodiment. Further preferably, the method 100 has the following steps: obtaining S6 an output value. Preferably, the method 100 has the following steps: adapting S7 a deviation value and obtaining S8 a threshold value function. Furthermore, preferably, the method 100 has the following steps: receiving and / or selecting S9 a parameter set and obtaining S10 a threshold value function.

[0061] Further preferably, the method 100 has the steps of determining S11 a change, comparing S12 the change, and adapting S13 a filtered deviation value. Preferably, the method 100 comprises the steps of obtaining S14 a signal and adapting S15 a threshold function. Furthermore, preferably, the method 100 has the steps of detecting and / or selecting S16 and adapting S17. Preferably, the method 100 comprises the step of starting S18 a deviation value.

[0062] Further preferably, the method 100 has the following step: adapting S19. Preferably, the method 100 has the following step: constructing S20.

[0063] Figure 3 A sensor unit 200 according to one embodiment is shown. The ultrasonic sensor unit 200 is configured to detect at least one ultrasonic measured value. Further preferably, the ultrasonic sensor unit 200 comprises an ultrasonic sensor element 202, which is configured to output an ultrasonic measured value. Further preferably, the ultrasonic sensor element 202 is arranged in a predefined orientation 204, which is known to the ultrasonic sensor unit 200. Further preferably, the sensor unit 200 is configured to perform the steps of the method 100 as described above and below.

[0064] Figure 4 A vehicle 400 according to one specific embodiment is shown. The vehicle 400 is configured to carry out the steps of the method 100 as described above and below. Further preferably, the vehicle 400 comprises an ultrasonic sensor unit 200 as described above and below. Furthermore, preferably, the vehicle 400 comprises a computer-readable storage medium 300 which stores a computer program as described above and below.

[0065] Figure 5A graph 500 for explaining the method 100 according to one embodiment is shown. In this case, the graph 500 has a first axis 502, which shows the measured values. Further preferably, the graph 500 has a second axis 504, which shows the time curve. Further preferably, a data curve or reference curve 506 is depicted in the graph 500. In addition, preferably, a measured value curve 508 is shown in the graph 500. Based on the ratio between the reference curve 506 and the measured value curve 508, a threshold value function 510 can be determined.

Claims

1. A method (100) for adapting ultrasonic measured values, the method comprising the following steps: determining (S1) a reference curve based on an orientation (204) of an ultrasonic sensor element (202) which is designed to output at least one ultrasonic measured value and based on a ground reference, constructing (S2) a measured value curve based on the at least one ultrasonic measured value, constructing (S3) a deviation value based on a ratio between the measurement curve and the reference curve over a predetermined period of time, Based on the deviation value and based on the reference curve, a threshold function is determined (S4).

2. The method (100) according to claim 1, further comprising the following steps: Based on the ascertained threshold value function and based on the at least one ultrasonic measured value, an output value is ascertained ( S6 ).

3. The method (100) according to any one of the preceding claims, further comprising the following steps: Adapting (S7) the deviation value for constructing a filtered deviation value, wherein: the filtered deviation value does not have a value within a predetermined range, Based on the filtered deviation value and based on the reference curve, the threshold function is determined (S8).

4. The method (100) according to claim 3, further comprising the following steps: receiving and / or selecting (S9) a parameter set for adjusting sensitivity, The threshold function is determined ( S10 ) based on the filtered deviation value, the reference curve and based on the parameter set.

5. The method (100) according to any one of claims 3 to 4, further comprising the following steps: determining (S11) a change in the filtered deviation value in a predetermined time period, comparing the change in the filtered deviation value with the reference curve (S12) for determining the echo in the ultrasonic value, The filtered deviation value is adapted for eliminating echoes in the filtered deviation value.

6. The method (100) according to any one of the preceding claims, further comprising the following steps: Determine (S14) the signal-to-interference ratio in the measured value curve, When the signal-to-interference ratio is greater than a predetermined limit value, the threshold function is adapted (S15).

7. The method (100) according to any one of the preceding claims, further comprising the following steps: detecting and / or selecting (S16) environmental parameters of the ultrasonic sensor element (202), The reference curve is adapted (S17) according to the environmental parameters.

8. The method (100) according to any one of the preceding claims, further comprising the following steps: The deviation value is started based on the start value (S18), wherein: The start value is a measured value outside the predetermined time period, and / or the start value is a historical value of a previous measurement.

9. The method (100) according to any one of the preceding claims, wherein: The predetermined time period has a first limit value and a second limit value, and the method further comprises the following steps: A predetermined time period for a time range between the first limit value and the second limit value is adapted (S19).

10. The method (100) according to any one of claims 1 to 8, wherein: The predetermined time period has a reference and a third limit value, and the method further comprises the following steps: A predetermined time period between the reference and the third limit value is constructed (S20).

11. An ultrasonic sensor unit (200) which is designed to detect at least one ultrasonic measured value and which is designed to carry out the steps of the method (100) according to any one of claims 1 to 10. 12 . Computer program, which is designed to carry out the steps of the method according to claim 1 .

13. A computer-readable medium on which a computer program according to claim 12 is stored.

14. A vehicle (400) comprising an ultrasonic sensor unit (200) according to claim 1 and / or being configured to carry out a method according to any one of claims 1 to 10.

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