Determining a position of a linear object

Abstract

A method (160) for determining a position of a linear object (170) based on echo information of a vehicle ultrasonic transducer arrangement (140) comprising at least one ultrasonic transducer (130) is presented, the method comprising: providing (S3) echo information describing at least three echo signals, wherein the emission and reception positions of the echo signals are distributed two- or three-dimensionally; and determining (S5, S6, S7) the position of the linear object (170) based on the echo information and an echo-based position determination model of the linear object (170).

Description

Technical Field

[0001] This invention relates to a method for determining the position of linear objects such as curbs, handrails, obstacles, and / or lampposts based on echo information from a vehicle ultrasonic transducer assembly including at least one ultrasonic transducer. Furthermore, this invention relates to a computer program product, control device, and vehicle. Background Technology

[0002] A key feature of vehicle ultrasonic transducer assemblies is that each ultrasonic transducer receives echo signals from different ultrasonic transducers when emitting pulses, and these signals can be used for evaluation. However, the ultrasonic information describing multiple echo signals typically does not include the measurement angles from which the corresponding echo signals are received from the respective receiving ultrasonic transducers. This makes it difficult to determine the object's position in space.

[0003] For example, JP 2 969 202 B2 discloses a method for recognizing the shape of a three-dimensional object. To this end, a distance signal that does not correspond to a background distance is selected from a set of distance signals from multiple distance sensors arranged in a plane. The selected distance signal is fed into a neural network based on its centroid so that the shape is recognized as the outline of a three-dimensional object in the plane.

[0004] KR 101 408 089 B1 discloses a method for determining the position of an object in space using an ultrasonic transducer assembly. To this end, an ultrasonic transducer assembly is proposed, which provides a transmitter and at least three receivers. The position of the object is then determined by means of a propagation time comparison. The patent specification seems to assume that all echoes originate from the same reflection point. This only applies to point objects. For extended objects, this highly simplistic assumption typically leads to non-negligible errors in position determination. Furthermore, it is not easy to distinguish between point objects and linear objects, therefore information about the position of linear objects in space is not readily available.

[0005] DE 10 2020 121 064 A1 discloses a method for tracking objects in a vehicle environment, wherein multiple detection points are detected as a point cloud, and wherein the point cloud is evaluated by means of a mathematical model that approximates the objects as polygons.

[0006] In this context, the object of the present invention is to provide an apparatus for determining the position of a linear object by means of echo information.

[0007] Linear objects here should be understood in particular as curbs, handrails, obstacles, and / or lampposts.

[0008] For example, the location of a linear object can include the position and orientation or main axis direction of the linear object, or be specified by the position and orientation or main axis direction of the linear object. For example, the location of a linear object can include multiple locations along the linear object, or be specified by multiple locations along the linear object. Summary of the Invention

[0009] Therefore, a method is proposed for determining the position of a linear object based on echo information from a vehicle ultrasonic transducer assembly, the vehicle ultrasonic transducer assembly including at least one ultrasonic transducer. The proposed method includes: providing echo information describing at least three echo signals, wherein the transmission and reception positions of the echo signals are distributed in two or three dimensions. The proposed method further includes: determining the position of the linear object based on the echo information and an echo-based position determination model of the linear object.

[0010] Therefore, it is proposed to use, provide, and apply special location determination models or specially configured location determination models for determining the location of linear objects from echo information. This allows for the high-precision detection of the location of linear objects with relatively little computational effort.

[0011] The proposed method is preferably a computer-implemented method, enabling frequent and rapid determination of the position of linear objects. The computer can preferably be understood as a control device for a vehicle.

[0012] Echo information can be more easily interchanged between different devices or methods, especially in the form of datasets, preferably digital datasets.

[0013] For example, echo information may include time series having multiple echo signals. For example, echo information may include multiple time series, each time series having an echo signal. Echo information may include, for example, at least one time series each having one echo signal and at least one time series each having multiple echo signals.

[0014] Preferably, for each echo signal, the transmission position is known, which is the location of the ultrasonic transducer when transmitting the ultrasonic signal, thereby receiving the echo signal. Preferably, for each echo signal, the receiving position is known, which is the location of the ultrasonic transducer when receiving the echo signal.

[0015] For example, a linear object can also be understood as an object whose ultrasonic reflection points have a principal axis, wherein, for example, the extension along the principal axis is at least 4 times, preferably at least 8 times, and more preferably at least 12 times, the extension perpendicular to the principal axis. For example, a linear object can also be understood as an object whose ultrasonic reflection points are approximately distributed along a straight line in space, wherein it can be understood as the first principal axis of the reflection point cloud. For example, a linear object can also be understood as a reflection point cloud, wherein the vertical distance from the reflection point to the first principal axis of the reflection point cloud is less than 10 cm, preferably less than 6 cm, and particularly preferably less than 2 cm. It can also be described as the characteristic distribution of reflection points influenced by the object geometry of the linear object.

[0016] The proposed method may optionally include providing positional information describing the relative positions of the transmitting and receiving positions with respect to each other, particularly—if multiple ultrasonic transducers exist—the relative positions of the ultrasonic transducers in a vehicle ultrasonic transducer assembly with respect to each other. The proposed method may also optionally include determining the position of a linear object based on the positional information. In other words, the proposed method may optionally include determining the position of a linear object based on echo information, positional information, and an echo-based positional determination model for the linear object. By precisely knowing the relative positions of the transmitting and receiving positions, the position of the linear object can be accurately determined.

[0017] For example, the proposed method can be reliably implemented for stationary vehicles having three ultrasonic transducers arranged in at least two dimensions. For example, the proposed method can be reliably implemented for moving vehicles having two ultrasonic transducers. The proposed method is reliably feasible, for example, for stationary vehicles with ultrasonic transducers moving in at least two dimensions, such as ultrasonic transducers in a moving windshield wiper. This list is not exhaustive. Therefore, this is a method with broad benefits.

[0018] Location information, such as the relative positions of multiple ultrasonic transducers in a vehicle or vehicle ultrasonic transducer assembly, can be included as parameters in the location determination model. Location information, such as indications for moving the vehicle between transmitting and receiving positions, can be recorded and provided, for example, along with echo information. Hybrid forms, such as a combination of known installation positions and additional vehicle motion, are also conceivable. The indications for moving the vehicle between transmitting and receiving positions can, for example, be a vector representing the vehicle's movement between the two transmitting and receiving positions. Preferably, the method is used for parking operations with correspondingly low speeds, such that the movement of the vehicle between emitting ultrasonic waves and receiving their reflections is negligible.

[0019] For easier usability, location information can be specifically in the form of a dataset, preferably in the form of a digital dataset.

[0020] For example, the proposed method can take the form of: a method for determining the position of a linear object based on echo information from a vehicle ultrasonic transducer assembly, the vehicle ultrasonic transducer assembly comprising at least two ultrasonic transducers, wherein the proposed method includes: providing echo information describing at least three echo signals, wherein the transmission and reception positions of the echo signals are distributed in two or three dimensions; and determining the position of the linear object based on the echo information and an echo-based position determination model of the linear object. Therefore, a preferred embodiment is that there are two or more ultrasonic transducers in the ultrasonic transducer assembly. In this method, the provided echo information preferably describes echo signals received during vehicle travel with the vehicle ultrasonic transducer assembly. Furthermore, the provided position information preferably includes the relative positions of at least two ultrasonic transducers of the vehicle ultrasonic transducer assembly relative to each other, preferably indicating relative motion during travel.

[0021] According to a preferred embodiment, the proposed method takes the form of: a method for determining the position of a linear object based on echo information of a vehicle ultrasonic transducer assembly comprising at least three ultrasonic transducers, comprising: providing echo information describing at least three echo signals, wherein the transmission and reception positions of the echo signals are distributed in two or three dimensions; and determining the position of the linear object based on the echo information and an echo-based position determination model of the linear object. The method may include: providing position information describing the relative positions of the ultrasonic transducers with respect to each other; wherein the position of the linear object is also determined based on the position information. This embodiment can also be reliably performed, for example, in a stationary vehicle or in a stationary ultrasonic transducer.

[0022] The proposed method may optionally include providing at least one initial position for the linear object. The proposed method may optionally include repeatedly performing approximation steps, wherein in each case, the endpoint position of the linear object is determined by a position determination model based on the starting position and echo information of the linear object, wherein the initial position is used first, and the endpoint position of the previous execution is used as the starting position in each subsequent execution. It has been shown that repeated execution or application of the position determination model results in a significantly more accurate determination of the position of the linear object. Preferably, three to eight, particularly four to six, initial positions are provided. Preferably, initial positions are provided one after another, and then the approximation steps are repeated. This can be completed after the position of the linear object has been determined with sufficient quality according to a termination criterion, without trying the remaining initial positions.

[0023] The location determination model is preferably based on equations or formulas. Preferably, the location determination model includes equations or a system of equations that describe at least one linear object in a manner based on echo signals. Therefore, one or more equations or formulas can be provided as computational rules to determine the location of the linear object deterministically and / or intelligibly.

[0024] The term "transmitter-receiver combination" is used below. This specifies a selected combination of transmitting and receiving ultrasonic transducers, which can be the same or different ultrasonic transducers. The transmitter-receiver combination can be referred to as a substitution. In other words, the transmitter-receiver combination can define one ultrasonic transducer as a transmitting ultrasonic transducer and another ultrasonic transducer as a receiving ultrasonic transducer. In other words, a transmitter-receiver combination, for example, means selecting one ultrasonic transducer of a vehicle ultrasonic transducer assembly as a transmitting ultrasonic transducer and selecting another or different, or the same, ultrasonic transducer of the vehicle ultrasonic transducer assembly as a receiving ultrasonic transducer for subsequent observation or inspection.

[0025] In the proposed method, it is possible, and preferably all, of the transmitter-receiver combinations to be associated with a reflection location or reflection point. Specifically, a reflection location is assigned to each of the transmitter-receiver combinations considered in further steps of the method. A reflection location can specifically refer to the location where an ultrasonic signal is reflected from a transmitting ultrasonic transducer on a linear object to a receiving ultrasonic transducer of the transmitter-receiver combination. A reflection location is particularly a location in three-dimensional space, situated on and / or at the linear object. A reflection location can be represented as a point corresponding to the strongest echo signal of the transmitter-receiver combination. A reflection location can be represented as a point corresponding to the strongest echo signal in the time series of the transmitter-receiver combination. A reflection location can be represented as a point corresponding to the strongest echo signal within a time window and / or signal intensity window of the time series of the transmitter-receiver combination.

[0026] In the proposed method, it is possible to identify or specify the transmitting and receiving ultrasonic transducers for each echo signal based on the echo information. For example, the transmitter-receiver combination can be explicitly specified in the dataset of the echo information. For example, the transmitter-receiver combination can be derived from frequency and / or time information, which can be inferred from the echo information for the corresponding echo signal.

[0027] In the proposed method, it is possible that the set of all reflection locations has a centroid and / or a first principal component. For example, the centroid is the location in space corresponding to the arithmetic mean of the coordinates of all reflection locations. For example, the first principal component is a vector in space for which the sum of the squares of the vertical distances from all reflection locations to that vector is minimized.

[0028] In the proposed method, optionally, the location determination model includes multiple equations, formulas, or terms that, in each case, compare the lengths of two signal paths of the transmitter-receiver combination or specify the difference in signal path lengths between them. The first of the two signal path lengths is the path length from the transmitting ultrasonic transducer of the transmitter-receiver combination to the reflection position of the transmitter-receiver combination and further to the receiving ultrasonic transducer of the transmitter-receiver combination. The second signal path length is the path length based on the propagation time of the echo signal from the transmitter-receiver combination. The second signal path length can be determined, in particular, by the ambient temperature provided to the method. Therefore, the equations of this alternative approach limit the location of the corresponding reflection position through the signal propagation time between the ultrasonic transducers of the respective transmitter-receiver combination.

[0029] In the proposed method, optionally, the location determination model comprises multiple equations, formulas, or terms, each specifying for the transmitter-receiver combination a) the deviation of the vector between the centroid and the reflection position of the transmitter-receiver combination and b) the first principal component. Therefore, the equations of this alternative approach are applicable to constraining the positions of the corresponding reflection positions such that they coincide with the first principal component, or are as close as possible to a straight line and / or lie on a straight line. It can be said that these equations are subject to collinearity requirements.

[0030] In the proposed method, optionally, the location determination model comprises multiple equations, formulas, or terms, each specifying the angular difference between two angles. The first of these two angles is, on one hand, the angle between the vector from the transmitting ultrasonic transducer of the corresponding transmitter-receiver combination to the reflection position of the corresponding transmitter-receiver combination, and on the other hand, the first principal component of the set of reflection positions. The second of these two angles is, on one hand, the angle between the vector from the reflection position of the transmitter-receiver combination to the receiving ultrasonic transducer of the transmitter-receiver combination, and on the other hand, the first principal component of the set of reflection positions. Therefore, these equations constrain the positions of the corresponding reflection positions such that they conform to the reflection laws concerning the corresponding transmitter-receiver combination. In other words, it may be required that the angle of incidence of the ultrasonic pulse from the transmitting ultrasonic transducer to the linear object is equal to the angle of occurrence of the ultrasonic echo from the linear object to the receiving ultrasonic transducer.

[0031] The proposed method can optionally specify that the location determination model is a trained location determination model. Preferably, the trained location determination model is trained using multiple training datasets to determine the location of a linear object. For example, each training dataset includes echo information describing multiple echo signals and training locations. The objective function for training can be to minimize the difference between the training locations on the training datasets and the locations determined by the location determination model based on echo information from the same training datasets.

[0032] According to one aspect of the invention, a computer program product is provided, comprising commands that, when executed by a computer, cause it to perform a method for determining the position of a linear object based on echo information from a vehicle's ultrasonic transducer assembly. The computer program product, such as a computer program device, can be provided or supplied as a storage medium, such as a memory card, USB flash drive, CD-ROM, DVD, or as a file downloadable from a server on a network. This can be done, for example, by transmitting a corresponding file including the computer program product or computer program device over a wireless communication network.

[0033] According to one aspect of the invention, a vehicle control device is proposed, configured to perform the method for determining the position of a linear object based on echo information from a vehicle's ultrasonic transducer assembly. The embodiments and features described for the proposed method are correspondingly applicable to the proposed control device.

[0034] According to one aspect of the invention, a vehicle having the proposed control device is provided. The vehicle preferably carries or includes a vehicle ultrasonic transducer assembly. The vehicle ultrasonic transducer assembly and the control device are preferably interconnected for data exchange.

[0035] Other possible embodiments of the invention include combinations of features or embodiments not explicitly mentioned in the description of exemplary embodiments above or below. Those skilled in the art will also add various aspects as improvements or supplements to the corresponding basic forms of the invention.

[0036] Other advantageous designs and aspects of the invention are the subject of the dependent claims and the embodiments described below. The invention will now be explained in more detail with reference to the accompanying drawings and preferred embodiments. Attached Figure Description

[0037] Figure 1 A schematic plan view of a vehicle with a control device designed to perform a method for determining the position of a linear object, which is actually based on an embodiment of the invention.

[0038] Figures 2 to 4 The illustration schematically shows the convergence of multiple exemplary reflection locations to an exemplary linear object in three steps of a method for determining the position of a linear object according to an embodiment of the present invention; and

[0039] Figure 5 A flowchart illustrating a method for determining the position of a linear object according to an embodiment of the present invention is shown in an illustrative manner. Detailed Implementation

[0040] Unless otherwise specified, identical or functionally equivalent elements are indicated by the same reference numerals in the accompanying drawings.

[0041] Figure 1 A schematic bird's-eye view of vehicle 100 is shown. Vehicle 100 is, for example, an automobile, arranged in an environment 150. Vehicle 100 has a control device 110, which may be, for example, part of a parking assistance system. Furthermore, multiple environmental sensor devices 120, 130 are arranged on vehicle 100, which may be, for example, optical sensors 120 and ultrasonic transducers 130 or ultrasonic sensors. Optical sensors 120 include, for example, vision cameras, radar, and / or lidar. Each optical sensor 120 can capture an image of a corresponding area from the environment 150 of vehicle 100 and output the image as an optical sensor signal. The ultrasonic transducer 130 is configured to detect the distance to objects arranged in the environment 150 and output a corresponding sensor signal. Using the sensor signals captured by sensors 120, 130, control device 110 is able to drive vehicle 100, for example, partially or fully autonomously. In addition... Figure 1 In addition to the optical sensor 120 and ultrasonic transducer 130 shown, the vehicle 100 may be specified to have various other sensor devices 120, 130. Examples of these are microphones, accelerometers, antennas with coupled receivers for receiving electromagnetically transmittable data signals, etc.

[0042] A portion of the ultrasonic transducers 130 of vehicle 100 are exemplarily combined to form vehicle ultrasonic transducer assembly 140. The ultrasonic transducers 130 of vehicle ultrasonic transducer assembly 140 are preferably not all distributed along a single straight line, but rather they are preferably arranged in a two-dimensional plane or more preferably spatially distributed in / on vehicle 100. Vehicle ultrasonic transducer assembly 140 preferably has only ultrasonic transducers 130 with overlapping detection ranges.

[0043] Subsequently, reference Figures 2 to 5 An embodiment of method 160 is described, which is suitable for determining the position of a linear object 170 based on (i.e., according to) echo information of a vehicle ultrasonic transducer assembly 140 including at least one ultrasonic transducer 130. The described method 160 includes optional steps.

[0044] In step S1, it is checked whether the speed of vehicle 100 does not exceed a speed threshold. For example, the threshold can be as high as 50 km / h or preferably as high as 35 km / h. If vehicle 100 is too fast, method 160 is preferably not performed further.

[0045] In the next step S2, echo information describing at least a portion of the environment 150 is detected using the ultrasonic transducer 130 of the vehicle ultrasonic transducer assembly 140. This echo information is provided in step S3. For example, the echo information may be in the form of a digital dataset. The echo information describes multiple echo signals. An echo signal can be understood as an indication of reflected ultrasonic echoes. For example, the echo information for each ultrasonic transducer 130 includes a time series of ultrasonic levels, wherein individual echo signals from the time series can be derived or read out. For example, the echo information includes multiple echo signals, each characterized by time information such as a timestamp or propagation time.

[0046] Each echo signal is uniquely assigned to the transmitting ultrasonic transducer 130 and the receiving ultrasonic transducer 130. The transmitting ultrasonic transducer 130 and the receiving ultrasonic transducer 130 form a transmitter-receiver combination. These can be different ultrasonic transducers 130 or the same ultrasonic transducer 130.

[0047] In the next step S4, location information is provided. For example, location information is read from memory after vehicle 100 or control device 110 is started and / or periodically. The location information can be provided as a dataset, particularly a digital dataset.

[0048] In the next step S5, the position of the linear object 170 is determined based on the echo information and the echo-based position determination model of the linear object 170.

[0049] The derivation of an exemplary location determination model is described below. This derivation is intended for ease of understanding.

[0050] K ultrasonic transducers 130 are considered for the location determination model. Preferably, all ultrasonic transducers 130 of the vehicle ultrasonic transducer assembly 140 are considered.

[0051] Therefore, the ultrasonic transducers 130 have k relative positions S relative to each other or within the vehicle's own coordinate system. i , where each relative position S i Preferably, it consists of three Cartesian coordinates x i y i z i limited:

[0052]

[0053]

[0054] Consider all transmitter-receiver combinations of the ultrasonic transducer 130 under consideration. This means that k² transmitter-receiver combinations are possible, including itself. For each transmitter-receiver combination, consider the reflection position p.i,j Or the reflection point, where "i" represents transmitter 130 and "j" represents receiver 130:

[0055]

[0056]

[0057] Reflection position p i,j The totality or quantity p T It can be understood as a point cloud or a reflection point cloud.

[0058] Based on the echo information, the path length w of each echo signal can be determined using the time-of-flight (TOF) of the echo signal from the transmitter-receiver combination and, preferably, the ambient air temperature (θ). i,j :

[0059]

[0060]

[0061] Reflection point p i,j The quantity or totality has a center of gravity :

[0062]

[0063] With the help of reflection point p i,j center of gravity The reflection point p centered on the center of gravity can be determined. i,j And the corresponding centered reflection point cloud p :

[0064]

[0065]

[0066] Principal component analysis is performed below using singular value decomposition. Matrix p Factorize:

[0067]

[0068] The reflection point p can be determined or extracted from matrix V. i,j The direction vector d of the first principal component PC1 Then it is formed into a normalized direction vector d PC1n :

[0069] and

[0070]

[0071] Therefore, the reflection point p i,j The principal line p PC1 It can be derived from the associated center of gravity Determine or form:

[0072]

[0073] Having its position vector Direction vector The line in parametric form of parameter s represents the potentially detected linear object.

[0074] In this exemplary embodiment, a set of 5k is now formulated. 2 A system equation.

[0075] For example, the location determination model includes multiple equations, each specifying for the transmitter-receiver combination a) the difference between the path length from the transmitting ultrasonic transducer 130 to the reflection position p of the transmitter-receiver combination and further to the receiving ultrasonic transducer 130 and b) the path length based on the propagation time of the echo signal from the transmitter-receiver combination:

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083]

[0084]

[0085]

[0086] For example, a location determination model includes multiple equations, each specifying the centroid for the transmitter-receiver combination. The reflection position p of the transmitter-receiver combination i,j The vector a) between the first principal component d and the first principal component d PC1 Deviation of b):

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] Here, for example, item , and These terms together specify the center of gravity and the reflection position p. 1,1 The vector between the two sides and the first principal component d on the other hand PC1 The deviation of the vectors between them. In other words, this group of terms specifies the centroid and reflection position p. 1,1 The vector between the first principal component d PC1 The vector product or cross product.

[0099] For example, the location determination model includes multiple equations, each specifying the angle difference between a) a1) the angle between the vector from the transmitting ultrasonic transducer to the reflecting position and a2) the first principal component, and b) b1) the angle between the vector from the reflecting position to the receiving ultrasonic transducer and b2) the first principal component:

[0100]

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109] The common thread in the above equations is that they become zero under ideal conditions if the calculated reflection position p corresponds to the actual reflection position p at a location on the linear object 170. Under real conditions, they will approach zero. Therefore, these equations together constitute a zero-point problem.

[0110] Step S5 has sub-steps S6 and S7. In step S6, at least one initial position is provided for the linear object 170. In step S7, the endpoint position of the linear object 170 is determined based on the initial position, echo information, and position information of the linear object 170 using a position determination model. Step S7 is an approximate step and it is repeated. The initial position is the starting position provided in S6 during the first run of the approximate step. The endpoint position from previous runs of step S7 is used for each subsequent run of step S7.

[0111] For example, step S7 may include a damped Gauss-Newton method for numerically solving the above equations:

[0112]

[0113]

[0114] Those skilled in the art select a value based on the damping strategy. , so that satisfaction For example, the Jacobian matrix J(p) is generated according to the above equation:

[0115]

[0116] In other words, in step S7, for each reflection position p i,j Each position value , and The solution is approximated using an approximation method. For these reflection positions, the term f1(p) to... In each case, approximate the value to zero as closely as possible. In other words, this includes equation f1(p) to... The zeros of the system of equations are approximated.

[0117] After each approximation step of the Gauss-Newton method, the termination condition is checked. If the termination condition is met, no further approximation steps are performed. For example, if the reflection point p at the final endpoint is... T The termination condition can be met if the distance from the common principal axis does not exceed a predetermined threshold. For example, the termination condition can be met if the endpoint position does not change by at least one degree of accuracy between the last two executions. For example, the termination condition can be met if the computation time threshold has been exceeded during step S5. For example, the termination condition can be met if the maximum number of executions of the approximation step is reached. Many numerical approximation methods can be used in step S7, and these methods may require further termination conditions that can be applied by those skilled in the art.

[0118] exist Figures 2 to 4 The diagram illustrates an exemplary scenario in which the position of the linear object 170 is determined. All three figures respectively show the positions of the four ultrasonic transducers 130 of the vehicle's ultrasonic transducer assembly 140. All four ultrasonic transducers 130 are used alternately as both transmitting and receiving ultrasonic transducers, such that the illustrated linear object 170, for example, throws back 16 ultrasonic echoes, thus corresponding to 16 reflection points p. Furthermore, the position of the linear object 170 is shown for improved clarity. Figure 2 The location of the reflection point is shown after the first execution of step S7. Figure 3 The position after the second execution of step S7 is shown, and Figure 4 The position is shown after the third and final execution of step S7. Reflection point p i,j It is represented as a rhombus. It should be noted that... Figures 2 to 4 In the drawing projection, multiple reflection points overlap. After the third execution of step S7, the position of the linear object 170 is determined with high precision, thus step S5 is stopped or terminated.

[0119] Finally, in step S8, the endpoint position of the linear object 170 determined in the previously executed step S7 is output as the position of the linear object 170. For example, the position of the linear object 170 can be output, provided, and / or stored as a digital dataset.

[0120] The position to be output for the linear object 170 could be, for example, a specific reflection point p. T Alternatively, it can include a specific reflection point p. T The position to be output for the linear object 170 could, for example, be based on a specific reflection point p. T The first principal component p PC1 Or it could include a specific reflection point p T The first principal component p PC1 By selectively changing the equation of the corresponding line. In addition to the already calculated reflection point, the parameter s in the equation can also be used to calculate other points on the line if necessary.

[0121] Although the invention has been described based on exemplary embodiments, it can be modified in various ways.

[0122] List of reference numerals

[0123] 100 vehicles

[0124] 110 Control Equipment

[0125] 120 Optical Sensor

[0126] 130 Ultrasonic Transducer

[0127] 140 Vehicle ultrasonic transducer assembly

[0128] 150 Environment

[0129] 160 A method for determining the position of a linear object based on echo information from a vehicle ultrasonic transducer assembly including at least one ultrasonic transducer.

[0130] 170 Linear Objects

[0131] S1 Checks whether the vehicle speed does not exceed the speed threshold.

[0132] S2 uses the ultrasonic transducer of the vehicle's ultrasonic transducer assembly to detect at least a portion of the echo information describing the environment.

[0133] S3 provides echo information including multiple echo signals.

[0134] S4 provides location information

[0135] S5. Based on echo information and an echo-based position determination model for linear objects, the position of linear objects is determined.

[0136] S6 provides at least one initial position for the linear object.

[0137] S7 Repeat the approximation steps, wherein, in each case, the end position of the linear object is determined by means of a position determination model based on the starting position and echo information of the linear object, wherein the starting position is first used as the starting position, and the end position of the previously executed one is used in each subsequent execution.

[0138] S8 Outputs the position of the line object.

Claims

1. A method (160) for determining the position of a linear object (170) based on echo information from a vehicle ultrasonic transducer assembly (140) including at least one ultrasonic transducer (130), comprising: Provide (S3) the echo information, the echo information describing at least three echo signals, wherein the transmission and reception positions of the echo signals are distributed in two or three dimensions; and The position of the linear object (170) is determined (S5, S6, S7) based on the echo information and the echo-based position determination model of the linear object (170).

2. The method according to claim 1, characterized in that, The method includes: Provide (S4) a description of the relative positions of the transmitting position and the receiving position with respect to each other (S i Location information; The position of the linear object (170) is also determined based on the location information.

3. The method according to claim 1 or 2, wherein, The vehicle ultrasonic transducer assembly (140) includes at least two ultrasonic transducers (130), wherein the provided (S3) echo information describes the echo signal received during the operation of the vehicle (100) having the vehicle ultrasonic transducer assembly (140); and Preferably, the location information provided (S4) includes the relative positions of the at least two ultrasonic transducers (130) of the vehicle ultrasonic transducer assembly (140) relative to each other, and indicates the relative movement of the vehicle.

4. The method according to any one of claims 2 to 3, characterized in that, The vehicle ultrasonic transducer assembly (140) includes at least three ultrasonic transducers (130). Preferably, the provided (S4) position information describes the relative positions (S130) of the ultrasonic transducers (130) of the vehicle ultrasonic transducer assembly (140) with respect to each other. i ).

5. The method according to any one of the preceding claims, characterized in that, Determining the location (S5) includes: Provide (S6) at least one initial position for the linear object (170); and Repeat the approximation step (S7), wherein the end position of the linear object (170) is determined based on the starting position and echo information of the linear object (170) by means of the position determination model, wherein the initial position is first used as the starting position, and the end position of the previous execution is used in each subsequent execution.

6. The method according to any one of the preceding claims, characterized in that, The location determination model is based on equations.

7. The method according to claim 6, characterized in that, The transmitter-receiver combination (130, 130) includes a transmitting ultrasonic transducer (130) and a receiving ultrasonic transducer (130), which may be the same ultrasonic transducer (130) or different ultrasonic transducers (130). In each case, the reflection position (p) i,j ) are assigned to multiple transmitter-receiver combinations (130, 130), preferably to all transmitter-receiver combinations (130, 130). The echo information used for each echo signal identifies the transmitting ultrasonic transducer (130) and the receiving ultrasonic transducer (130); and The location determination model includes multiple equations (f1(p) to...) Each equation for the transmitter-receiver assembly (130, 130) specifies a) the reflection position (p) from the transmitting ultrasonic transducer (130) to the transmitter-receiver assembly (130, 130). i, j Furthermore, the difference between the path length of the receiving ultrasonic transducer (130) and the path length of the echo signal propagation time based on the transmitter-receiver combination (130, 130).

8. The method according to claim 6 or 7, characterized in that: The transmitter-receiver combination (130, 130) includes a transmitting ultrasonic transducer (130) and a receiving ultrasonic transducer (130), which may be the same ultrasonic transducer (130) or different ultrasonic transducers (130). In each case, the reflection position (p) i,j ) are assigned to multiple transmitter-receiver combinations (130, 130), preferably to all transmitter-receiver combinations (130, 130). All reflection locations (p) i,j A set of ) has a centroid ( ) and the first principal component (p PC1 );and The location determination model includes multiple equations ( to ) or a system of equations, each equation or system of equations for the transmitter-receiver combination (130, 130) specifies a) the centroid ( The reflection position (p) of the transmitter-receiver combination (130, 130) and the transmitter-receiver combination (130, 130) i,j The vector between b) and the first principal component (p) PC1 () deviation.

9. The method according to any one of claims 6 to 8, characterized in that, The transmitter-receiver combination (130, 130) includes a transmitting ultrasonic transducer (130) and a receiving ultrasonic transducer (130), which may be the same ultrasonic transducer (130) or different ultrasonic transducers (130). In each case, the reflection position (p) i,j ) are assigned to multiple transmitter-receiver combinations (130, 130), preferably to all transmitter-receiver combinations (130, 130). All reflection locations (p) i,j The set of ) has the first principal component (p) PC1 );and The location determination model includes multiple equations ( to ) or a set of equations, each equation or set of equations forming for the transmitter-receiver combination (130, 130) a) a1) from the transmitting ultrasonic transducer (130) to the reflecting position (p i，j The vector of a) and the first principal component (p) of a2) PC1 The angle between b) and b1) from the reflection position (p) i，j The vector from the receiving ultrasonic transducer (130) to b2) the first principal component (p) PC1 The angle difference between the angles between them.

10. A computer program product comprising commands that, when executed by a computer, cause to perform a method (160) for determining the position of a linear object (170) based on echo information from a vehicle ultrasonic transducer assembly (140) according to any one of claims 1 to 9.

11. A control device (110) for a vehicle (100), the control device being configured to perform a method (160) for determining the position of a linear object (170) based on echo information from a vehicle ultrasonic transducer assembly (140) according to any one of claims 1 to 9 and / or a computer program product according to claim 10.

12. A vehicle (100) comprising the control device (110) according to claim 11.

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