Installation topology of ultrasonic sensor system for identifying motor vehicles

Abstract

The first data terminal (13d) of the last ultrasonic sensor (3d) of the motor vehicle (1) is connected to the second data terminal (14a) of the initial ultrasonic sensor (3a), and the first data terminal (17d) of another last ultrasonic sensor (4d) is connected to the second data terminal (18a) of another initial ultrasonic sensor (4a). An initialization command is received by the initial ultrasonic sensor (3a) and the other initial ultrasonic sensor (4a). A first voltage at the second data terminal (14d) of the last ultrasonic sensor (3d) and a second voltage at the second data terminal (18d) of the other last ultrasonic sensor (4d) are determined. A first address is assigned to the initial ultrasonic sensor (3a) based on the first voltage, and a second address is assigned to the other initial ultrasonic sensor (4a) based on the second voltage.

Description

Technical Field

[0001] This invention relates to a method for installing an ultrasonic sensor system for identifying a motor vehicle, the ultrasonic sensor system comprising: a set of ultrasonic sensor devices including an initial ultrasonic sensor device and a final ultrasonic sensor device; and another set of ultrasonic sensor devices including another initial ultrasonic sensor device and another final ultrasonic sensor device. The invention also relates to a method for detecting one or more objects in the environment of a motor vehicle, a method for guiding a motor vehicle at least partially automatically, an ultrasonic sensor system for a motor vehicle, an electronic vehicle guidance system for a motor vehicle, and a motor vehicle. Background Technology

[0002] For various driver assistance functions, such as parking assistance, and other functions for at least partially automated guidance of the vehicle, multiple ultrasonic sensor devices can be mounted on the vehicle. These ultrasonic sensor devices can emit ultrasonic waves and / or detect the reflected portion of the emitted ultrasonic waves to detect objects in the vehicle's environment. Based on the detected objects, appropriate driver assistance information and / or control signals can be generated for guiding the vehicle.

[0003] Typically, it is desirable to reduce the number of computing units required to control multiple ultrasonic sensor devices, particularly the number of electronic control units (ECUs). However, if a computing unit is used to control more than one ultrasonic sensor device, especially two or more nominally identical ultrasonic sensor devices, it may be necessary to identify the mounting topology of the various ultrasonic sensor devices at the vehicle, especially directly after system startup. Mounting topology specifically refers to the placement of different ultrasonic sensor devices or a group of ultrasonic sensor devices at different mounting areas at the vehicle. For example, some ultrasonic sensor devices may be mounted at the front of the vehicle, such as at the bumper or grille, while others may be mounted at the side or rear of the vehicle, such as at the rear bumper. Understanding the mounting topology of the various ultrasonic sensor devices allows for control of the ultrasonic sensor devices according to predefined protocols or sequences to transmit and / or detect ultrasonic waves through different ultrasonic sensor devices. Furthermore, if the mounting topology is known, the computing unit can position the detected objects relative to the vehicle.

[0004] A dedicated computing unit can be associated with each ultrasonic sensor device or group of ultrasonic sensor devices installed in the same installation area. However, this contradicts the general requirement to reduce the number of computing units and decrease the overall system complexity. Alternatively, a fixed installation location can be assigned to each ultrasonic sensor, and the corresponding information can be stored within the ultrasonic sensor device itself. The ultrasonic sensor device can then directly provide information about its installation location to the associated computing unit. However, in this case, each ultrasonic sensor device will be uniquely usable only at a single installation location or only in a specific installation area, which increases the workload of installing ultrasonic sensor devices into motor vehicles and increases the risk of installing individual ultrasonic sensor devices in the wrong location. Summary of the Invention

[0005] The object of the present invention is to provide a possibility for the installation topology of an ultrasonic sensor system for identifying motor vehicles, the ultrasonic sensor system comprising at least two sets of ultrasonic sensor devices installed in different installation areas on the motor vehicle.

[0006] This objective is achieved through the relevant subject matter of the independent claims. Further embodiments and preferred embodiments are the subject matter of the dependent claims.

[0007] This invention is based on the concept of using one ultrasonic sensor device from each group of ultrasonic sensor devices as the master device, and connecting the data terminal of one of the ultrasonic sensor devices in each group that is not the master device to a predefined voltage. The master device can then identify the corresponding voltage based on the detected voltage and assign a corresponding address according to the installation area.

[0008] According to one aspect of the invention, a method is provided for the installation topology of an ultrasonic sensor system for identifying motor vehicles. The ultrasonic sensor system includes a set of ultrasonic sensor devices, comprising an initial ultrasonic sensor device and a final ultrasonic sensor device. The ultrasonic sensor system also includes another set of ultrasonic sensor devices, comprising another initial ultrasonic sensor device and another final ultrasonic sensor device.

[0009] The first data terminal of the final ultrasonic sensor device is connected to the second data terminal of the ultrasonic sensor device. The first data terminal of another final ultrasonic sensor device is connected to the second data terminal of another initial ultrasonic sensor device. An initialization command is received by the initial ultrasonic sensor device, particularly at its first data terminal, for example, from the electronic control unit (ECU) of the motor vehicle or ultrasonic sensor system. The initialization command is also received by the other initial ultrasonic sensor device, particularly at its first data terminal. In response to the initialization command, the initial ultrasonic sensor device determines a first voltage applied to the second data terminal of the final ultrasonic sensor device, particularly via the connection between the first and second data terminals of the final and initial ultrasonic sensor devices. In response to the initialization command, the other initial ultrasonic sensor device determines a second voltage applied to the second data terminal of the other final ultrasonic sensor device, particularly via the connection between the first and second data terminals of the other initial ultrasonic sensor device, wherein the second voltage is different from the first voltage.

[0010] Based on a first voltage, a first address of a predefined first mounting area at the motor vehicle is assigned to an initial ultrasonic sensor device, specifically through the initial ultrasonic sensor device. Based on a second voltage, a second address of a predefined second mounting area at the motor vehicle (specifically different from the first mounting area) is assigned to another initial ultrasonic sensor device, specifically through the other initial ultrasonic sensor device.

[0011] This group of ultrasonic sensor devices can be considered as a sequence of two or more ultrasonic sensor devices, including an initial ultrasonic sensor device and a final ultrasonic sensor device. The initial ultrasonic sensor device can be considered the master device, while all other ultrasonic sensor devices in the group can be considered, for example, slave devices. Specifically, within the sequence, the initial ultrasonic sensor device is directly connected to exactly one of the subsequent ultrasonic sensor devices in the sequence via its second data terminal. If the sequence includes exactly two ultrasonic sensor devices, the subsequent ultrasonic sensor device can be the final ultrasonic sensor device. Otherwise, the ultrasonic sensor device following the initial ultrasonic sensor device is not the final ultrasonic sensor device. Furthermore, the final ultrasonic sensor device is connected to exactly one of the preceding ultrasonic sensor devices in the sequence via its first data terminal, particularly directly connected to the exactly one preceding ultrasonic sensor device in the sequence. If the sequence consists of exactly two ultrasonic sensor devices in a group, the preceding ultrasonic sensor device is the initial ultrasonic sensor device. Otherwise, it is not the initial ultrasonic sensor device.

[0012] If the sequence includes two or more ultrasonic sensor devices, each ultrasonic sensor device in the sequence, except for the initial and final ultrasonic sensor devices, is directly connected to the exact preceding ultrasonic sensor device in the sequence via its respective first data terminal and directly connected to the exact following ultrasonic sensor device in the sequence via its respective second data terminal. Therefore, the sequence can also be considered as a series connection of a group of ultrasonic sensor devices that begins with the initial ultrasonic sensor device and ends with the final ultrasonic sensor device. Thus, the second data terminal of the initial ultrasonic sensor device is directly connected to the first data terminal of the final ultrasonic device, i.e., when the sequence consists of exactly two sets of ultrasonic sensor devices, or indirectly connected to the first data terminal of the final ultrasonic device, i.e., via one or more remaining ultrasonic sensor devices in the sequence arranged between the initial and final ultrasonic sensor devices.

[0013] Another set of ultrasonic sensor devices can be considered as another sequence of two or more ultrasonic sensor devices, including another initial ultrasonic sensor device and another final ultrasonic sensor device. The description of a sequence of two or more ultrasonic sensor devices can be similar to that of another sequence of two or more ultrasonic sensor devices.

[0014] Unless otherwise stated, a connection may be considered direct or indirect here and below. In the case of a direct connection, the two entities in question are connected by a conductor without the need for additional electronic equipment to be arranged between them. Specifically, if the data terminal of the first ultrasonic sensor device is directly connected to the data terminal of the second ultrasonic sensor device, it can be understood that no third ultrasonic sensor device is arranged between them. On the other hand, if the data terminal of the first ultrasonic sensor device is indirectly connected to the data terminal of the second ultrasonic sensor device, additional electronic components (e.g., a third ultrasonic sensor device) may be arranged between the corresponding data terminals of the indirectly connected first and second ultrasonic sensor devices. Indirect connections may also include one or more switching elements that can selectively close and open the corresponding connection.

[0015] In this document and below, a data terminal can be understood as a terminal used to exchange data between corresponding connected entities. However, a constant voltage or potential can also be applied to the data terminal, for example, in the case of the corresponding second data terminals of a final ultrasonic sensor device and another final ultrasonic sensor device.

[0016] The first and second voltages are defined relative to a predefined reference potential (e.g., ground potential). For example, the first voltage could be a predefined non-zero power supply voltage used to power an ultrasonic sensor system (particularly, the individual ultrasonic sensors in one set of ultrasonic sensor devices and another set of ultrasonic sensor devices). For example, the second voltage could be equal to zero. In other words, the second data terminal of one ultrasonic sensor device could be connected to either the power supply voltage or the power supply potential, while the second data terminal of another ultrasonic sensor device could be connected to ground potential. Obviously, other options are also possible, including but not limited to using the first and second voltages or potentials applied separately at the data terminals, such as the first voltage being zero and the second voltage being the power supply voltage.

[0017] The connections of the second data terminals of the final ultrasonic sensor device and the other final ultrasonic sensor device to the first voltage and the second voltage, respectively, specifically correspond to a fixed configuration, for example, always present once the vehicle, and especially the ultrasonic sensor system, is powered on. However, when the ultrasonic sensor system is powered on, the initial ultrasonic sensor device and the other initial ultrasonic sensor device themselves are unaware of whether the first voltage or the second voltage is connected to the second data terminal of the corresponding final or other final ultrasonic sensor device. Using the method according to the invention, this information is retrieved by the initial ultrasonic sensor device and the other initial ultrasonic sensor device respectively in response to an initialization command. The initial ultrasonic sensor device and the other initial ultrasonic sensor device can determine the corresponding voltages respectively through their respective direct or indirect connections to the final ultrasonic sensor device and the other final ultrasonic sensor device.

[0018] Furthermore, a first address, for example, is permanently associated with a first voltage according to a predefined first mounting area, and a second address, for example, is permanently associated with a second voltage according to a second mounting area. Therefore, once the initial ultrasonic sensor device recognizes that the second data terminal of the last ultrasonic sensor device is connected to the first voltage, the initial ultrasonic sensor device knows that its own mounting area is the first mounting area, and thus can assign the first address to itself. Furthermore, the initial ultrasonic sensor device can also assign the first address to all other ultrasonic sensor devices in the group of ultrasonic sensor devices, or to a corresponding sub-address of the first address. The first address can be considered as information stored at least on the initial ultrasonic sensor device, instructing the initial ultrasonic sensor device and the entire group of ultrasonic sensor devices to be mounted according to the first mounting area. The initial ultrasonic sensor device can configure itself or all ultrasonic sensor devices in the group of ultrasonic sensor devices according to the first address.

[0019] Similarly, once another initial ultrasonic sensor device has identified that the second data terminal of another final ultrasonic sensor device is connected to the second voltage, the other initial ultrasonic sensor device knows that its own mounting area is the second mounting area, and therefore can assign the second address to itself. Furthermore, the other initial ultrasonic sensor device can also assign the second address to all other ultrasonic sensor devices in the other group of ultrasonic sensor devices, or to corresponding sub-addresses of the second address. The second address can be considered as information stored at least on the other initial ultrasonic sensor device, instructing the other initial ultrasonic sensor device and the entire other group of ultrasonic sensor devices to be mounted according to the second mounting area. The other initial ultrasonic sensor device can configure itself or all ultrasonic sensor devices in the other group of ultrasonic sensor devices according to the second address.

[0020] Once the first and second addresses have been assigned as described above, and / or a set of ultrasonic sensor devices and another set of ultrasonic sensor devices have been configured accordingly, they can be operated according to their respective installation areas. The operation of the set of ultrasonic sensor devices and the other set of ultrasonic sensor devices can be handled by one or more computing units of the vehicle and / or the ultrasonic sensor system, including, for example, an ECU connected to the initial ultrasonic sensor device and the other initial ultrasonic sensor device, and / or handled separately by the initial ultrasonic sensor device and the other initial ultrasonic sensor device, etc. Specifically, the installation topology of the ultrasonic sensor system can be considered determined by assigning the first address to the initial ultrasonic sensor device and, for example, to the remaining ultrasonic sensor devices in one set of ultrasonic sensor devices, and by assigning the second address to the other initial ultrasonic sensor device and, for example, to the remaining ultrasonic sensor devices in another set of ultrasonic sensor devices. However, in some embodiments, the installation topology can be further refined by identifying the order of the ultrasonic sensor devices in one sequence and another sequence, respectively. On the other hand, it is also possible that the order in the sequence or the other sequence is predefined and fixed, respectively.

[0021] In particular, the method for identifying the installation topology according to the invention can be performed after the ultrasonic sensor system is powered on and before the ultrasonic sensor system is used to detect one or more objects in the motor vehicle environment.

[0022] After executing the method for identifying the installation topology according to the invention, the ultrasonic sensor system itself and / or other computing units of the vehicle know, due to the assigned first and second addresses, that one set of ultrasonic sensor devices is installed according to a first installation area and another set of ultrasonic sensor devices is installed according to a second installation area. Therefore, the individual ultrasonic sensor devices of the ultrasonic sensor system can be operated according to their specific installation location or area, and / or the sensor signals received from each ultrasonic sensor device can be interpreted according to the corresponding installation location or area. In particular, both the first and second sets of ultrasonic sensor devices can be connected to only one computing unit of the vehicle or the ultrasonic sensor system, such as an electronic control unit. In practice, the initial ultrasonic sensor device and the second initial ultrasonic sensor device only receive the same initialization command, and the installation topology can be determined solely in response to the initialization commands of the initial ultrasonic sensor device and the second initial ultrasonic sensor device itself. Therefore, the complexity of the entire system for controlling the ultrasonic sensor system can be significantly reduced, particularly the number of computing units required outside the ultrasonic sensor devices themselves.

[0023] According to various embodiments, the data terminals of the electronic control unit of a motor vehicle, such as the data terminals of an ultrasonic sensor system, are connected to the first data terminal of an initial ultrasonic sensor device, particularly directly to the first data terminal of the initial ultrasonic sensor device, and particularly directly to the first data terminal of another initial ultrasonic sensor device. Initialization commands are transmitted from the electronic control unit to the initial ultrasonic sensor device, particularly via the data terminals of the electronic control unit and the first data terminal of the initial ultrasonic sensor device, and to another initial electronic sensor device, particularly through the data terminals of the electronic control unit and the first data terminal of the other initial ultrasonic sensor device.

[0024] For example, an electronic control unit can be implemented as a body control unit (BCU), also referred to as a body control module (BCM). An electronic control unit can also be implemented as a zone control unit (ZCU) or a domain control unit (DCU).

[0025] According to various embodiments, information instructing a group of ultrasonic sensor devices to be installed according to a first mounting area or instructing a first address to be assigned to an initial ultrasonic sensor device is transmitted from the initial ultrasonic sensor device to the electronic control unit. According to various embodiments, additional information instructing another group of ultrasonic sensor devices to be installed according to a second mounting area or instructing a second address to be assigned to another initial ultrasonic sensor device is transmitted from another initial ultrasonic sensor device to the electronic control unit. According to various embodiments, a group of ultrasonic sensor devices is at least partially operated by the electronic control unit based on the transmitted information and / or by the initial ultrasonic sensor device based on the assigned first address.

[0026] According to various embodiments, another set of ultrasonic sensor devices is operated at least in part by an electronic control unit based on additional information transmitted and / or by another initial ultrasonic sensor device based on an assigned second address.

[0027] Operating a set of ultrasonic sensor devices may, for example, include controlling the set of ultrasonic sensor devices to emit ultrasonic waves in their respective environments and / or receiving corresponding sensor signals based on the detected reflections of the emitted ultrasonic waves and / or detecting one or more objects in the respective environments of the set of ultrasonic sensor devices. Operating another set of ultrasonic sensor devices may, for example, include controlling another set of ultrasonic sensor devices to emit ultrasonic waves in their respective environments and / or receiving corresponding other sensor signals based on the detected reflections of the emitted ultrasonic waves and / or detecting one or more other objects in the respective environments of the other set of ultrasonic sensor devices.

[0028] According to at least one embodiment, a predefined initial address is assigned to an initial ultrasonic sensor device, for example, by an electronic control unit, and particularly, the initial address is assigned to another initial ultrasonic sensor device, specifically the same initial address, by the electronic control unit. To assign a first address to an initial ultrasonic sensor device, the initial address of the initial ultrasonic sensor device is verified according to a first voltage, specifically by the initial ultrasonic sensor device itself. To assign a second address to another initial ultrasonic sensor device, the initial address of the other initial ultrasonic sensor device is invalidated according to a second voltage, specifically by the other initial ultrasonic sensor device itself. Alternatively, to assign a first address to an initial ultrasonic sensor device, the initial address of the initial ultrasonic sensor device is invalidated according to a first voltage, specifically by the initial ultrasonic sensor device itself, and to assign a second address to another initial ultrasonic sensor device, the initial address of the other initial ultrasonic sensor device is verified according to a second voltage, specifically by the other initial ultrasonic sensor device itself.

[0029] In other words, the initial address is the same as either the first or second address and is initially assigned to both the initial ultrasonic sensor device and the other initial ultrasonic sensor device. If the initial address is the same as the first address, then the initial address is correct for the initial ultrasonic sensor device and incorrect for the other initial ultrasonic sensor device, determined based on the voltage applied to the second data terminal of the last ultrasonic sensor device and the other last ultrasonic sensor device, respectively. On the other hand, if the initial address is the same as the second address, then the initial address is correct for the other initial ultrasonic sensor device but incorrect for the initial ultrasonic sensor device. Therefore, if necessary, either the initial ultrasonic sensor device or the other initial ultrasonic sensor device is reconfigured to be assigned the correct one of the first and second addresses.

[0030] According to another aspect of the present invention, a method for detecting one or more objects in the environment of a motor vehicle is provided. The method comprises, during an initialization phase, executing a method for mounting a topology of an ultrasonic sensor system for identifying a motor vehicle according to the present invention. In an operation phase following the initialization phase, objects in the environment of a first mounting area are detected by controlling a set of ultrasonic sensor devices and / or another object in the environment of a second mounting area is detected by controlling another set of ultrasonic sensor devices.

[0031] Since the installation topology of the ultrasonic sensor system has been identified according to the present invention, the positions of one object and another object relative to the motor vehicle can be correctly interpreted.

[0032] According to another aspect of the invention, a method for at least partially automatically guiding a motor vehicle is provided. This method, according to the invention, involves detecting one or more objects in the environment of the motor vehicle. At least one control signal for at least partially automatically guiding the motor vehicle is generated based on the detected object and / or based on another detected object. Alternatively or additionally, driver assistance information is generated based on the detected object and / or based on another detected object.

[0033] At least one control signal may be provided, for example, to one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more propulsion motors of the motor vehicle. The one or more actuators may affect the longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least partially automatically.

[0034] Driver assistance information can be output using the vehicle's output devices, such as displays and / or audio output systems and / or haptic output systems.

[0035] For any use cases or situations that may occur in the method but are not explicitly described herein, it may be stipulated that, according to the method, error messages and / or user feedback prompts and / or default settings and / or predetermined initial states are output.

[0036] According to another aspect of the present invention, an ultrasonic sensor system for a motor vehicle is provided. The ultrasonic sensor system includes a set of ultrasonic sensor devices, comprising an initial ultrasonic sensor device and a final ultrasonic sensor device. The ultrasonic sensor system also includes another set of ultrasonic sensor devices, comprising another initial ultrasonic sensor device and another final ultrasonic sensor device. A first data terminal of the final ultrasonic sensor device is connected to a second data terminal of the initial ultrasonic sensor device. A first data terminal of the other final ultrasonic sensor device is connected to a second data terminal of the other initial ultrasonic sensor device.

[0037] An initial ultrasonic sensor device is configured to receive an initialization command at a first data terminal of the initial ultrasonic sensor device, and in response to the initialization command, determine a first voltage applied to a second data terminal of a final ultrasonic sensor device. The initial ultrasonic sensor device is configured to assign a first address, based on a predefined first mounting area at the motor vehicle, to itself, according to the first voltage. Another initial ultrasonic sensor device is configured to receive an initialization command at a first data terminal of another initial ultrasonic sensor device, and in response to the initialization command, determine a second voltage applied to a second data terminal of another final ultrasonic sensor device. The second initial ultrasonic sensor device is configured to assign a second address, based on a predefined second mounting area at the motor vehicle, to itself, according to the second voltage.

[0038] For example, each of a set of ultrasonic sensor devices and another set of ultrasonic sensor devices may include a first power terminal at which a first power supply voltage, such as a first voltage, is applied. Furthermore, each of the set of ultrasonic sensor devices and another set of ultrasonic sensor devices may include a second power terminal at which a second power supply voltage, such as zero or a second voltage, is applied.

[0039] According to several embodiments, a set of ultrasonic sensor devices includes an initial ultrasonic sensor device and a final ultrasonic sensor device. A first data terminal of the final ultrasonic sensor device is directly connected to a second data terminal of the initial ultrasonic sensor device.

[0040] According to several embodiments, another set of ultrasonic sensor devices includes another initial ultrasonic sensor device and another final ultrasonic sensor device. The first data terminal of the final ultrasonic sensor device is directly connected to the second data terminal of the initial ultrasonic sensor device.

[0041] According to several embodiments, a set of ultrasonic sensor devices includes a sequence of three or more ultrasonic sensor devices, including an initial ultrasonic sensor device and a final ultrasonic sensor device. Except for the initial ultrasonic sensor device, a corresponding first data terminal of each ultrasonic sensor device in the sequence is connected to a corresponding second data terminal of the preceding ultrasonic sensor device in the sequence, particularly directly connected to the corresponding second data terminal of the preceding ultrasonic sensor device in the sequence.

[0042] This implies that, except for the last ultrasonic sensor device, the corresponding second data terminal of each ultrasonic sensor device in the sequence is connected to the corresponding first data terminal of the subsequent ultrasonic sensor device in the sequence, in particular directly connected to the corresponding first data terminal of the subsequent ultrasonic sensor device in the sequence.

[0043] According to several embodiments, another set of ultrasonic sensor devices includes another sequence of three or more ultrasonic sensor devices having another initial ultrasonic sensor device and another final ultrasonic sensor device. Apart from the other initial ultrasonic sensor device, a corresponding first data terminal of each ultrasonic sensor device in the other sequence is connected to a corresponding second data terminal of the preceding ultrasonic sensor device in the other sequence, particularly directly connected to the corresponding second data terminal of the preceding ultrasonic sensor device in the other sequence.

[0044] This implies that, apart from the other final ultrasonic sensor device, the corresponding second data terminal of each ultrasonic sensor device in the other sequence is connected to the corresponding first data terminal of the subsequent ultrasonic sensor device in the other sequence, in particular directly connected to the corresponding first data terminal of the subsequent ultrasonic sensor device in the other sequence.

[0045] According to several embodiments, each ultrasonic sensor device in a set of ultrasonic sensor devices includes a corresponding switching element that switchesably connects a first data terminal of the corresponding ultrasonic sensor device to a second data terminal of the corresponding ultrasonic sensor device. According to several embodiments, each ultrasonic sensor device in another set of ultrasonic sensor devices includes a corresponding switching element that switchesably connects a first data terminal of the corresponding ultrasonic sensor device to a second data terminal of the corresponding ultrasonic sensor device.

[0046] The switchable connection can be understood, for example, as allowing the connection to be selectively closed or opened by means of corresponding switching elements. By opening and closing the corresponding switching elements, the initial ultrasonic sensor device can reach and communicate with each of the remaining ultrasonic sensor devices in a set of ultrasonic sensor devices. Specifically, by closing all the switching elements of the ultrasonic sensor devices in a set of ultrasonic sensor devices, the initial ultrasonic sensor device can determine a first voltage applied to the second data terminal of the last ultrasonic sensor device. Similarly, by opening and closing the corresponding switching elements, another initial ultrasonic sensor device can reach and communicate with each of the remaining ultrasonic sensor devices in another set of ultrasonic sensor devices. Specifically, by closing all the switching elements of the ultrasonic sensor devices in another set of ultrasonic sensor devices, another initial ultrasonic sensor device can determine a second voltage applied to the second data terminal of another last ultrasonic sensor device.

[0047] According to several embodiments, the ultrasonic sensor system includes an electronic control unit for a motor vehicle. Data terminals of the electronic control unit are connected to first data terminals of an initial ultrasonic sensor device and another initial ultrasonic sensor device. The electronic control unit is configured to send initialization commands to the initial ultrasonic sensor device and the other initial ultrasonic sensor device, specifically to generate and send commands to the initial ultrasonic sensor device and the other initial ultrasonic sensor device.

[0048] According to various implementations, the data terminals of the electronic control unit are implemented as terminals for a serial communication bus, such as terminals for a local interconnect network (LIN).

[0049] For example, the corresponding first and second data terminals of the ultrasonic sensor devices in one set of ultrasonic sensor devices, as well as the first and second data terminals of the ultrasonic sensor devices in another set of ultrasonic sensor devices, can also be implemented as corresponding terminals of a serial communication bus or LIN.

[0050] According to several embodiments, the ultrasonic sensor system includes at least one computing unit. Each ultrasonic sensor device in a group is configured to detect ultrasonic waves and generate a corresponding sensor signal based on the detected ultrasonic waves. The at least one computing unit is configured to detect objects in the environment of a first installation area based on the sensor signals.

[0051] According to several embodiments, each of the ultrasonic sensor devices in another set is configured to detect ultrasonic waves and generate a corresponding additional sensor signal based on the detected ultrasonic waves. At least one computing unit is configured to detect another object in the environment of the second installation area based on the additional sensor signal.

[0052] A computing unit can be specifically understood as a data processing device that includes processing circuitry. Therefore, a computing unit can, in particular, process data to perform computational operations. This can also include performing operations that access indexes on data structures, such as lookup tables (LUTs).

[0053] Specifically, the computing unit may include one or more computers, one or more microcontrollers and / or one or more integrated circuits, such as one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more system-on-a-chip (SoCs). The computing unit may also include one or more processors, such as one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, particularly one or more digital signal processors (DSPs). The computing unit may also include a physical or virtual cluster of computers or other said units.

[0054] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0055] Memory cells can be implemented as volatile data memory, such as dynamic random access memory (DRAM) or static random access memory (SRAM), or as non-volatile data memory, such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or flash EEPROM, ferroelectric random access memory (FRAM), magnetoresistive random access memory (MRAM), or phase-change random access memory (PCRAM).

[0056] In some implementations, at least one computing unit of the ultrasonic sensor system may include the electronic control unit of the ultrasonic sensor system.

[0057] Another embodiment of the ultrasonic sensor system according to the invention directly follows various embodiments of the method according to the invention, and vice versa. In particular, the various features, corresponding explanations, and advantages associated with the various embodiments of the method according to the invention can be similarly transferred to corresponding embodiments of the ultrasonic sensor system according to the invention. In particular, the ultrasonic sensor system according to the invention is designed or programmed to perform the method according to the invention. In particular, the ultrasonic sensor system according to the invention performs the method according to the invention.

[0058] According to another aspect of the invention, an electronic vehicle guidance system for a motor vehicle is provided. The electronic vehicle guidance system includes an ultrasonic sensor system according to the invention. At least one computing unit of the ultrasonic sensor system is configured to automatically generate at least one control signal for guiding the motor vehicle, based at least partially on a detected object and / or based on another detected object. Alternatively or additionally, the at least one computing unit is configured to generate driver assistance information based on the detected object and / or based on another detected object.

[0059] Electronic vehicle guidance systems can be understood as electronic systems configured to guide vehicles in a fully automated or fully autonomous manner, and in particular, without requiring manual intervention or control by the vehicle's driver or user. The vehicle automatically performs all necessary functions, such as steering, deceleration, and / or acceleration, as well as monitoring and recording road traffic and corresponding responses. Specifically, electronic vehicle guidance systems can achieve fully automated or fully autonomous driving modes according to Level 5 of SAE J3016 classification. Electronic vehicle guidance systems can also be implemented as Advanced Driver Assistance Systems (ADAS) that assist the driver in partially automated or partially autonomous driving. Specifically, electronic vehicle guidance systems can achieve partially automated or partially autonomous driving modes according to Levels 1 to 4 of SAE J3016 classification. Here and below, SAE J3016 refers to the corresponding standard dated April 2021.

[0060] Therefore, at least partially automated guided vehicles may include Level 5 guided vehicles according to SAE J3016 classification, guided in fully automated or fully autonomous driving modes. At least partially automated guided vehicles may also include Levels 1 to 4 guided vehicles according to SAE J3016 classification, guided in partially automated or partially autonomous driving modes.

[0061] According to another aspect of the invention, a motor vehicle is provided, comprising an ultrasonic sensor system according to the invention or an electronic vehicle guidance system according to the invention. At least a portion of a set of ultrasonic sensor devices is mounted on the front bumper of the motor vehicle and / or at least a portion of a set of ultrasonic sensor devices is mounted on the grille of the motor vehicle and / or at least a portion of a set of ultrasonic sensor devices is mounted on the first door sill of the motor vehicle and / or at least a portion of a set of ultrasonic sensor devices is mounted on the first wheel arch of the motor vehicle.

[0062] According to several embodiments, at least a portion of another set of ultrasonic sensor devices is installed at the rear bumper of the motor vehicle and / or at least a portion of another set of ultrasonic sensor devices is installed at the second sill of the motor vehicle and / or at least a portion of another set of ultrasonic sensor devices is installed at the second wheel arch of the motor vehicle.

[0063] Other features of the invention will be apparent from the claims, the accompanying drawings, and the description of the drawings. The features and combinations of features mentioned in the foregoing description, as well as the features and combinations of features mentioned and / or shown in the following description of the drawings, may be included in the invention not only in the corresponding combinations described herein, but also in other combinations. In particular, the invention may also include embodiments and combinations of features that do not have all the features of the originally formulated claims. Furthermore, the invention may include embodiments and combinations of features that go beyond or deviate from the combinations of features set forth in the claims. Attached Figure Description

[0064] The invention will be explained in detail below with reference to specific exemplary embodiments and corresponding schematic diagrams. In the drawings, the same or functionally identical elements may be denoted by the same reference numerals. Descriptions of the same or functionally identical elements are not necessarily repeated in different drawings.

[0065] In the attached diagram,

[0066] Figure 1 A schematic front view of a motor vehicle having an exemplary embodiment of an ultrasonic sensor system according to the present invention is shown;

[0067] Figure 2 It shows Figure 1 A schematic rear view of a motor vehicle;

[0068] Figure 3 A schematic block diagram of another exemplary embodiment of the ultrasonic sensor system according to the present invention is shown; and

[0069] Figure 4 A schematic block diagram of another exemplary embodiment of the ultrasonic sensor system according to the present invention is shown. Detailed Implementation

[0070] Figure 1 A schematic front view of a motor vehicle 1 is shown, which includes an ultrasonic sensor system 6 according to the invention (see [reference]). Figure 3 and Figure 4 Exemplary implementations of ). Figure 2 A schematic rear view of the same motor vehicle 1 is shown.

[0071] The ultrasonic sensor system 6 includes a set of ultrasonic sensor devices, comprising an initial ultrasonic sensor device 3a and a final ultrasonic sensor device 3d. The ultrasonic sensor system 6 also includes another set of ultrasonic sensor devices 4a, 4b, 4c, and 4d, comprising another initial ultrasonic sensor device 4a and another final ultrasonic sensor device 4d. Figure 1 and Figure 2In this setup, the ultrasonic sensor device also includes two intermediate ultrasonic sensor devices 3b and 3c, and another ultrasonic sensor device includes two additional intermediate ultrasonic sensor devices 4b and 4c. However, the number of ultrasonic sensor devices in each or each set of ultrasonic sensor devices is not limited to the specific example shown in the figure.

[0072] Figure 3 A schematic block diagram illustrating an exemplary implementation of an ultrasonic sensor system 6 is shown, wherein one set of ultrasonic sensor devices includes an initial ultrasonic sensor device 3a and a final ultrasonic sensor device 3d, and another set of ultrasonic sensor devices includes another initial ultrasonic sensor device 4a and another final ultrasonic sensor device 4d. Figure 4 The diagram illustrates a schematic block diagram of another exemplary embodiment of the ultrasonic sensor system 6, wherein the set of ultrasonic sensor devices includes an initial ultrasonic sensor device 3a, two intermediate ultrasonic sensor devices 3b and 3c, and a final ultrasonic sensor device 3d. Another set of ultrasonic sensor devices includes another initial ultrasonic sensor device 4a, two more intermediate ultrasonic sensor devices 4b and 4c, and another final ultrasonic sensor device 4d.

[0073] The set of ultrasonic sensor devices is installed in a first mounting area of ​​the motor vehicle 1, for example, at the front bumper 19 and / or grille 21 of the motor vehicle 1. Another set of ultrasonic sensor devices is installed in a second mounting area of ​​the motor vehicle 1, for example, at the rear bumper 20 of the motor vehicle 1. The motor vehicle 1, in some embodiments, is an ultrasonic sensor system 6, including an electronic control unit 7 having a power supply terminal 8 connected to a non-zero power supply voltage and a ground terminal 9 connected to ground potential or zero voltage, respectively. Furthermore, the electronic control unit 7 includes a data terminal 10, such as a LIN terminal. Each ultrasonic sensor device 3a, 3b, 3c, 3d in the set of ultrasonic sensor devices includes corresponding power supply terminals 11a, 11b, 11c, 11d connected to the power supply voltage and corresponding ground terminals 12a, 12b, 12c, 12d connected to the ground potential. Each ultrasonic sensor device 3a, 3b, 3c, 3d in this group of ultrasonic sensor devices includes corresponding first data terminals 13a, 13b, 13c, 13d, which may be, for example, LIN terminals, and corresponding second data terminals 14a, 14b, 14c, 14d, which may be, for example, LIN terminals. Each ultrasonic sensor device 4a, 4b, 4c, 4d in another group of ultrasonic sensor devices includes corresponding power terminals 15a, 15b, 15c, 15d connected to a power supply voltage and corresponding ground terminals 16a, 16b, 16c, 16d connected to a ground potential. Each ultrasonic sensor device 4a, 4b, 4c, 4d in another group of ultrasonic sensor devices includes corresponding first data terminals 17a, 17b, 17c, 17d, which may be, for example, LIN terminals, and corresponding second data terminals 18a, 18b, 18c, 18d, which may be, for example, LIN terminals.

[0074] Finally, the first data terminal 13d of the ultrasonic sensor device 3d is connected to the second data terminal 14a of the initial ultrasonic sensor device 3a. Figure 3 In this implementation, the connection is a direct connection. Figure 4 In this embodiment, the connection is an indirect connection via intermediate ultrasonic sensor devices 3b and 3c. Specifically, the first data terminal 13d of the final ultrasonic sensor device 3d is directly connected to the second data terminal 14c of the intermediate ultrasonic sensor device 3c, the first data terminal 13c of the intermediate ultrasonic sensor device 3c is directly connected to the second data terminal 14b of the intermediate ultrasonic sensor device 3b, and the first data terminal 13b of the intermediate ultrasonic sensor device 3b is directly connected to the second data terminal 14a of the initial ultrasonic sensor device 3a.

[0075] The first data terminal 17d of another final ultrasonic sensor device 4d is connected to the second data terminal 18a of another initial ultrasonic sensor device 4a. Figure 3In this implementation, the connection is a direct connection. Figure 4 In this embodiment, the connection is an indirect connection via another intermediate ultrasonic sensor device 4b, 4c. Specifically, the first data terminal 17d of the other final ultrasonic sensor device 4d is directly connected to the second data terminal 18c of the other intermediate ultrasonic sensor device 4c, the first data terminal 17c of the other intermediate ultrasonic sensor device 4c is directly connected to the second data terminal 18b of the other intermediate ultrasonic sensor device 4b, and the first data terminal 17b of the other intermediate ultrasonic sensor device 4b is directly connected to the second data terminal 18a of the other initial ultrasonic sensor device 4a.

[0076] Each of the first data terminals 13a, 13b, 13c, 13d, 17a, 17b, 17c, 17d of the ultrasonic sensor devices 3a, 3b, 3c, 3d, 4a, 4b, 4c, 4d is switchably connected via a corresponding switching element to the second data terminals 14a, 14b, 14c, 14d, 18a, 18b, 18c, 18d of the same ultrasonic sensor device 3a, 3b, 3c, 3d, 4a, 4b, 4c, 4d. Furthermore, the second data terminal 14d of the last ultrasonic sensor device 3d is connected to the power supply voltage, and the second data terminal 18d of the other last ultrasonic sensor device 4d is connected to the ground potential.

[0077] After the ultrasonic sensor system 6 is started, the electronic control unit 7 generates an initialization command at data terminal 10 and transmits it to the first data terminals 13a and 17a of the initial ultrasonic sensor device 3a and another initial ultrasonic sensor device 4a. In response to the initialization command, the initial ultrasonic sensor device 3a instructs the remaining ultrasonic sensor devices 3b, 3c, and 3d in the same group to close their respective switches to read or detect the voltage applied to the second data terminal 14d of the last ultrasonic sensor device 3d and determine that it is the power supply voltage. Based on the detected power supply voltage, the initial ultrasonic sensor device 3a assigns a voltage to itself according to the first address of the first mounting area. Furthermore, in response to the initialization command, the other initial ultrasonic sensor device 4a instructs the remaining ultrasonic sensor devices 4b, 4c, and 4d in another group to close their respective switches to read or detect the voltage applied to the second data terminal 18d of the other last ultrasonic sensor device 4d and determine that it is zero. Based on the detected zero voltage, the other initial ultrasonic sensor device 4a assigns a voltage to itself according to the second address of the second mounting area.

[0078] For example, a predefined initial address (e.g., a first address) can initially be assigned to both the initial ultrasonic sensor device 3a and another initial ultrasonic sensor device 4a. Then, after the initial ultrasonic sensor device 3a has determined that a power supply voltage is applied to the second data terminal 14d of the final ultrasonic sensor device 3d, it verifies that the initial address is correct. On the other hand, after the other initial ultrasonic sensor device 4a has determined that the second data terminal 18d of the other final ultrasonic sensor device is connected to ground potential, it invalidates the initial address of the other initial ultrasonic sensor device 4a and re-addresses itself according to the second address.

[0079] In some embodiments, the ultrasonic sensor system 6 may be part of the electronic vehicle guidance system 2 of the motor vehicle 1. The electronic vehicle guidance system 2 includes at least one computing unit 5, which may also include, for example, an electronic control unit 7.

[0080] After assigning a first address to the initial ultrasonic sensor device 3a and a second address to another initial ultrasonic sensor device 4a, the ultrasonic sensor system 6 can operate in normal operating mode. The ultrasonic sensor devices 3a, 3b, 3c, 3d, 4a, 4b, 4c, and 4d can emit ultrasonic waves and detect the reflected portions of the ultrasonic waves, generating corresponding sensor signals based on the detected reflected portions. At least one computing unit 5 can detect one or more objects in the environment of the first mounting area, particularly in the environment of the front bumper 19 and / or grille 21, based on sensor signals received from another set of ultrasonic sensor devices 4a, 4b, 4c, and 4d. Furthermore, at least one computing unit 5 can detect one or more other objects in the environment of the second mounting area, particularly in the environment of the rear bumper 20, based on sensor signals received from another set of ultrasonic sensor devices 4a, 4b, 4c, and 4d.

[0081] At least one computing unit 5 is configured to automatically generate at least one control signal for guiding the motor vehicle 1, at least partially, based on a detected object and / or another detected object. Alternatively or additionally, the at least one computing unit 5 is configured to generate driver assistance information based on the detected object and / or another detected object.

[0082] As described, and particularly with respect to the accompanying drawings, the present invention allows for the reliable identification of the installation topology of an ultrasonic sensor system.

[0083] From a hardware and / or software perspective, this invention offers several advantages. Specifically, only a single data terminal is required at the electronic control unit to control all ultrasonic sensor devices in the ultrasonic sensor system. Furthermore, the electronic control unit may only need to run a single scheduler to control all ultrasonic sensor devices in the ultrasonic sensor system. Moreover, ultrasonic sensor devices of the same type and configured in the same manner can be used in all installation areas of the motor vehicle.

Claims

1. A method for mounting a topology of an ultrasonic sensor system (6) for identifying a motor vehicle (1), the ultrasonic sensor system (6) comprising: A set of ultrasonic sensor devices (3a, 3b, 3c, 3d) comprising an initial ultrasonic sensor device (3a) and a final ultrasonic sensor device (3d); and another set of ultrasonic sensor devices (4a, 4b, 4c, 4d) comprising another initial ultrasonic sensor device (4a) and another final ultrasonic sensor device (4d), wherein, - The first data terminal (13d) of the last ultrasonic sensor device (3d) is connected to the second data terminal (14a) of the initial ultrasonic sensor device (3a). - The first data terminal (17d) of the other final ultrasonic sensor device (4d) is connected to the second data terminal (18a) of the other initial ultrasonic sensor device (4a). - Initialization commands are received by the initial ultrasonic sensor device (3a) and by the other initial ultrasonic sensor device (4a); - In response to the initialization command, the initial ultrasonic sensor device (3a) determines a first voltage applied to the second data terminal (14d) of the last ultrasonic sensor device (3d); - In response to the initialization command, the second voltage applied at the second data terminal (18d) of the other initial ultrasonic sensor device (4a) is determined by the other final ultrasonic sensor device (4d); - Based on the first voltage, the first address of the first mounting area (19, 21) of the motor vehicle (1) is assigned to the initial ultrasonic sensor device (3a), and based on the second voltage, the second address of the second mounting area (20) of the motor vehicle (1) is assigned to the other initial ultrasonic sensor device (4a).

2. The method according to claim 1, wherein, - The data terminal (10) of the electronic control unit (7) of the motor vehicle (1) is connected to the first data terminal (13a) of the initial ultrasonic sensor device (3a) and the first data terminal (17a) of the other initial ultrasonic sensor device (4a); and - The initialization command is transmitted by the electronic control unit (7) to the initial ultrasonic sensor device (3a) and the other initial ultrasonic sensor device (4a).

3. The method according to any one of the preceding claims, wherein, A predefined initial address is assigned to the initial ultrasonic sensor device (3a), and the initial address is assigned to the other initial ultrasonic sensor device (4a). - To assign the first address to the initial ultrasonic sensor device (3a), the initial address of the initial ultrasonic sensor device (3a) is verified according to the first voltage, and to assign the second address to the other initial ultrasonic sensor device (4a), the initial address of the other initial ultrasonic sensor device (4a) is invalidated according to the second voltage; or - In order to assign the first address to the initial ultrasonic sensor device (3a), the initial address of the initial ultrasonic sensor device (3a) is invalidated according to the first voltage, and in order to assign the second address to the other initial ultrasonic sensor device (4a), the initial address of the other initial ultrasonic sensor device (4a) is verified according to the second voltage.

4. A method for detecting one or more objects in the environment of a motor vehicle (1), wherein, - A method for installing the ultrasonic sensor system (6) for identifying the motor vehicle (1) according to any one of the preceding claims during the initialization phase; - During the operation phase following the initialization phase, objects in the environment of the first installation area (19, 21) are detected by controlling the set of ultrasonic sensor devices (3a, 3b, 3c, 3d), and / or another object in the environment of the second installation area (20) is detected by controlling the other set of ultrasonic sensor devices (4a, 4b, 4c, 4d).

5. A method for at least partially automatically guiding a motor vehicle (1), wherein, Perform the method according to claim 4; - Generate at least one control signal for at least partially automatically guiding the motor vehicle (1) based on the detected object and / or based on another detected object; and / or - Generate driver assistance information based on the detected object and / or based on another detected object.

6. An ultrasonic sensor system (6) for a motor vehicle (1), comprising: A set of ultrasonic sensor devices (3a, 3b, 3c, 3d) comprising an initial ultrasonic sensor device (3a) and a final ultrasonic sensor device (3d); and another set of ultrasonic sensor devices (4a, 4b, 4c, 4d) comprising another initial ultrasonic sensor device (4a) and another final ultrasonic sensor device (4d), wherein, - The first data terminal (13d) of the last ultrasonic sensor device (3d) is connected to the second data terminal (14a) of the initial ultrasonic sensor device (3a). - The first data terminal (17d) of the other final ultrasonic sensor device (4d) is connected to the second data terminal (18a) of the other initial ultrasonic sensor device (4a). - The initial ultrasonic sensor device (3a) is configured to receive an initialization command at a first data terminal (13a) of the initial ultrasonic sensor device (3a), determine a first voltage applied at a second data terminal (14d) of the final ultrasonic sensor device (3d) in response to the initialization command, and assign a first address of a predefined first mounting area (19, 21) at the motor vehicle (1) to the initial ultrasonic sensor device (3a) based on the first voltage; and - The other initial ultrasonic sensor device (4a) is configured to receive the initialization command at a first data terminal (17a) of the other initial ultrasonic sensor device (4a), determine a second voltage applied at a second data terminal (18d) of the other final ultrasonic sensor device (4d) in response to the initialization command, and assign a second address of a predefined second mounting area (20) at the motor vehicle (1) to the other initial ultrasonic sensor device (4a) according to the second voltage.

7. The ultrasonic sensor system (6) according to claim 6, wherein, - The set of ultrasonic sensor devices (3a, 3b, 3c, 3d) includes the initial ultrasonic sensor device (3a) and the final ultrasonic sensor device (3d), and the first data terminal (13d) of the final ultrasonic sensor device (3d) is directly connected to the second data terminal (14a) of the initial ultrasonic sensor device (3a); and / or - The other set of ultrasonic sensor devices (4a, 4b, 4c, 4d) includes the other initial ultrasonic sensor device (4a) and the other final ultrasonic sensor device (4d), and the first data terminal (17d) of the other final ultrasonic sensor device (4d) is directly connected to the second data terminal (18a) of the other initial ultrasonic sensor device (4a).

8. The ultrasonic sensor system (6) according to claim 6, wherein, - The set of ultrasonic sensor devices (3a, 3b, 3c, 3d) comprises a sequence of three or more ultrasonic sensor devices (3a, 3b, 3c, 3d) having the initial ultrasonic sensor device (3a) and the final ultrasonic sensor device (3d); and - In addition to the initial ultrasonic sensor device (3a), the corresponding first data terminal (13b, 13c, 13d) of each ultrasonic sensor device (3b, 3c, 3d) in the sequence is connected to the corresponding second data terminal (14a, 14b, 14c) of the preceding ultrasonic sensor device (3a, 3b, 3c) in the sequence.

9. The ultrasonic sensor system (6) according to any one of claims 6 or 8, wherein, - The other set of ultrasonic sensor devices (4a, 4b, 4c, 4d) includes another sequence of three or more other ultrasonic sensor devices (4a, 4b, 4c, 4d) having the other initial ultrasonic sensor device (4a) and the other final ultrasonic sensor device (4d); and - In addition to the other initial ultrasonic sensor device (3a), the corresponding first data terminal (17b, 17c, 17d) of each ultrasonic sensor device (4b, 4c, 4d) in the other sequence is connected to the corresponding second data terminal (18a, 18b, 18c) of the preceding ultrasonic sensor device (4a, 4b, 4c) in the other sequence.

10. The ultrasonic sensor system (6) according to any one of claims 6 to 9, wherein, - Each of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) includes a corresponding switching element that switchesably connects the first data terminal (13a, 13b, 13c, 13d) of the corresponding ultrasonic sensor device to the second data terminal (14a, 14b, 14c, 14d) of the corresponding ultrasonic sensor device; and / or - Each of the other set of ultrasonic sensor devices (4a, 4b, 4c, 4d) includes a corresponding switching element that switchesably connects the first data terminal (17a, 17b, 17d) of the corresponding ultrasonic sensor device to the second data terminal (18a, 18b, 18c, 18d) of the corresponding ultrasonic sensor device.

11. The ultrasonic sensor system (6) according to any one of claims 6 to 10, comprising an electronic control unit (7) for the motor vehicle (1), wherein, - The data terminal (10) of the electronic control unit (7) is connected to the first data terminal of the initial ultrasonic sensor device (3a) and the first data terminal of the other initial ultrasonic sensor device (4a); and - The electronic control unit (7) is configured to transmit the initialization command to the initial ultrasonic sensor device (3a) and the other initial ultrasonic sensor device (4a).

12. The ultrasonic sensor system (6) according to claim 11, wherein, The data terminal (10) of the electronic control unit (7) is implemented as a terminal for a serial communication bus or for a local interconnection network.

13. The ultrasonic sensor system (6) according to any one of claims 6 to 12, comprising at least one computing unit (5, 7), wherein, - Each of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is configured to detect ultrasonic waves and generate a corresponding sensor signal based on the detected ultrasonic waves, and the at least one computing unit (5, 7) is configured to detect objects in the environment of the first installation area (19, 21) based on the sensor signals; and / or - Each of the other set of ultrasonic sensor devices (4a, 4b, 4c, 4d) is configured to detect ultrasonic waves and generate a corresponding other sensor signal based on the detected ultrasonic waves, and the at least one computing unit (5, 7) is configured to detect another object in the environment of the second installation area (20) based on the other sensor signal.

14. An electronic vehicle guidance system (2) for a motor vehicle (1), comprising the ultrasonic sensor system (6) according to claim 13, wherein, The at least one computing unit (5, 7) is configured to: - Based on the detected object and / or based on another detected object, at least one control signal for guiding the motor vehicle (1) is generated at least partially automatically; and / or - Generate driver assistance information based on the detected object and / or based on another detected object.

15. A motor vehicle (1) comprising an ultrasonic sensor system (6) according to any one of claims 6 to 13 or an electronic vehicle guidance system (2) according to claim 14, wherein, - At least a portion of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the front bumper (19) of the motor vehicle (1), and / or at least a portion of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the grille (21) of the motor vehicle (1), and / or at least a portion of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the first door sill of the motor vehicle (1), and / or at least a portion of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the first wheel arch of the motor vehicle (1); and / or - and / or at least a portion of the other set of ultrasonic sensor devices (4a, 4b, 4c, 4d) is installed at the rear bumper (20) of the motor vehicle (1), and / or at least a portion of the other set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the second door sill of the motor vehicle (1), and / or at least a portion of the other set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is installed at the second wheel arch of the motor vehicle (1).

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