Ultrasonic sensor unit

Abstract

The present invention relates to an ultrasonic sensor unit comprising an ultrasonic array, wherein the ultrasonic array comprises at least four ultrasonic elements arranged in a predetermined matrix, wherein the ultrasonic sensor unit is configured to emit and receive an ultrasonic wave set by means of the ultrasonic array, wherein the ultrasonic sensor unit is configured to determine an orientation of the ultrasonic sensor unit in relation to a reference based on the emitted and received ultrasonic wave set.

Description

State of the art

[0001] The present invention relates to an ultrasonic sensor unit, a computer-implemented method and a vehicle.

[0002] There are currently a variety of different solutions for referencing ultrasonic sensor elements in the automotive sector. Due to the increasing number of ultrasonic sensors and the increased quality requirements, the need for innovative and robust ultrasonic sensor measurement methods is continuously growing.

[0003] The constant weight reduction in the vehicle sector to reduce fuel consumption as well as increasing competition are creating cost pressure, so that cheaper and more efficient components for vehicles are in greater demand. Disclosure of the invention

[0004] The ultrasonic sensor unit according to the invention with the features of claim 1 has the advantage over the known device that the determination of an orientation of the ultrasonic sensor unit or an installation position of the ultrasonic sensor unit can be detected fully automatically. This eliminates the need for individual or manual programming of the ultrasonic sensor units. Further preferably, any measurement data generated by the ultrasonic sensor unit can be adjusted based on the determined orientation. Further preferably, the orientation of the ultrasonic sensor unit can be determined again over the service life of the ultrasonic sensor unit in order to be able to indicate any damage or similar.

[0005] This is achieved according to the invention in that the ultrasonic sensor unit has an ultrasonic array, wherein the ultrasonic array has at least four ultrasonic elements which are arranged in a predetermined matrix, wherein the ultrasonic sensor unit is configured to emit and receive an ultrasonic wave set by means of the ultrasonic array, wherein the ultrasonic sensor unit is configured to determine an orientation in the ultrasonic sensor unit in relation to a reference based on the emitted and received ultrasonic wave set.

[0006] In other words, in particular an alignment or installation position of the ultrasonic sensor unit in relation to a floor or the like can be determined. In this case, the ultrasonic array can in particular be an ultrasonic unit which is set up to carry out beamforming. In this case, in particular a large number of ultrasonic waves can be emitted and received, which have different alignments or orientations, in order to be able to determine the installation position of the ultrasonic sensor unit. The reference can be the floor or the like. Preferably, the ultrasonic wave set can be emitted and by superposition of the four ultrasonic elements a maximum can be determined in order to determine the direction of the floor, in particular by means of receive beamsteering, for example with a delay and sum algorithm. More preferably, four ultrasonic wave sets can be assigned to one direction, for exampleTransmit beamsteering, and the combined signal from the four received ultrasonic wave sets can be evaluated for a maximum. This allows the reference direction to be determined.

[0007] The subclaims show preferred developments of the invention.

[0008] Further preferably, the ultrasonic sensor unit is configured to transmit a signal, in particular to a control unit and / or a vehicle, which is configured to indicate an installation position of the ultrasonic unit in relation to the reference.

[0009] An advantage of this embodiment is that different systems, for example in a vehicle, can take the installation position of the respective ultrasonic sensor unit into account in their functions such as assisted driving or similar, in order to further improve their functions.

[0010] Further preferably, each of the ultrasonic elements is configured to generate an ultrasonic wave for forming the ultrasonic wave set, wherein a first ultrasonic wave set has a first orientation and a second ultrasonic wave set has a second orientation, wherein the first orientation and the second orientation differ from each other.

[0011] An advantage of this embodiment is that the different alignments allow the orientation relative to the reference to be determined without having to make structural changes to the ultrasonic sensor unit. More preferably, these can be different alignments, particularly if a vector or similar of the maximum of the ultrasonic wave differs from that of another ultrasonic wave of another ultrasonic element.

[0012] Preferably, the orientation of the ultrasonic waves substantially has an angle between 20° and 40° to an axis of the ultrasonic array.

[0013] An advantage of this embodiment is that it has been experimentally determined that determining the orientation is particularly easy in these angular ranges. In this context, this essentially means a deviation of ± 15°, especially manufacturing-related tolerances.

[0014] Further preferably, the received ultrasonic wave set comprises substantially four reflections of the emitted ultrasonic wave set, wherein the ultrasonic sensor unit is configured to determine an amount of sound pressure of each reflection, wherein the ultrasonic sensor unit is configured to determine the ultrasonic element which has a shortest distance to the reference based on the amount with the highest sound pressure.

[0015] An advantage of this embodiment is that, based on the evaluation of the sound pressure, the ultrasonic element located closest to the reference, such as the floor, can be determined based on its installation position. This allows conclusions to be drawn about the installation position or the orientation of the ultrasonic sensor unit relative to the reference to be determined. In this context, this essentially means that reflections of emitted ultrasonic waves may not be detected by the ultrasonic array due to, for example, environmental influences. Preferably, the transmission of the ultrasonic wave sets can be repeated and / or an evaluation can be performed with only, for example, three reflections.

[0016] Further preferably, the ultrasonic sensor unit is configured to determine a distance between the respective ultrasonic element and the reference for each reflection of the emitted ultrasonic waves, wherein the ultrasonic sensor unit is configured to determine the orientation of the ultrasonic unit in relation to the reference based on the distances between the respective ultrasonic element and the reference.

[0017] An advantage of this embodiment is that, based on the different reflections or the different magnitudes of the switching pressure, it is possible to determine which ultrasonic element is at what distance from the reference, particularly taking into account the orientation of the emitted ultrasonic waves. More preferably, an ultrasonic wave can also be emitted that propagates through the sky or similar objects. Thus, the respective orientation of the ultrasonic sensor unit can be determined based on the respective distances.

[0018] Preferably, the ultrasonic sensor unit is configured to determine an alignment of the predetermined matrix based on the distances between the respective ultrasonic element and the reference in order to determine the orientation.

[0019] An advantage of this embodiment is that the relationships between the ultrasonic elements are already defined based on the predetermined matrix. This further simplifies the determination of orientation.

[0020] Further preferably, the ultrasonic sensor unit is configured to generate at least one measured value by means of the ultrasonic array, wherein the ultrasonic sensor unit is configured to adapt the measured value based on the orientation.

[0021] An advantage of this embodiment is that the detection accuracy of the ultrasonic sensor unit can be further increased since the measured value can be set in relation to the reference such as the ground.

[0022] A further aspect of the invention relates to a computer-implemented method comprising the steps: - Emitting an ultrasonic wave set by means of an ultrasonic array with at least four ultrasonic elements, - Receiving the ultrasonic wave set using the ultrasonic array, - Determining an orientation of the ultrasonic sensor unit relative to a reference.

[0023] A further aspect of the invention relates to a computer program which is designed to carry out steps of the method as described above and below.

[0024] A further aspect of the invention relates to a storage medium which stores the computer program as described above and below.

[0025] A further aspect of the invention relates to a vehicle which has an ultrasonic sensor unit as described above and below and / or has a storage medium which stores a computer program for carrying out the method as described above and below. Short description of the drawings

[0026] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing: Fig. 1 an ultrasonic sensor unit according to an embodiment, Fig. 2 is a diagram illustrating the operation of the ultrasonic sensor unit according to an embodiment, Fig. 3 and Fig. 4 an ultrasonic sensor unit according to an embodiment Fig. 5 a flowchart for installing steps of the method according to an embodiment, Fig. 6 a vehicle according to an embodiment. Embodiments of the invention

[0027] Preferably, all the same elements, units and / or steps in all figures are provided with the same reference numerals.

[0028] Fig. 1 shows an ultrasonic sensor unit 10 according to one embodiment. The ultrasonic sensor unit 10 preferably has an ultrasonic array 12, wherein the ultrasonic array 12 has at least four ultrasonic elements 14 arranged in a predetermined matrix 16. The ultrasonic sensor unit 10 is configured to transmit and receive a set of ultrasonic waves using the ultrasonic array 12. The ultrasonic sensor unit 10 is configured to determine an orientation 18 of the ultrasonic sensor unit 10 relative to a reference 20 based on the transmitted and received set of ultrasonic waves.

[0029] Further preferably, each of the ultrasonic elements 14 can be configured to generate or emit an ultrasonic wave for forming the ultrasonic wave set, wherein each of the ultrasonic waves has an orientation 22, wherein the respective orientations 22 of the emitted ultrasonic waves differ from one another. As shown in the Fig. 1, the orientation 22 of the ultrasonic waves preferably has an angle of between 20° and 40° to an axis 24 of the ultrasonic array 12.

[0030] Fig. Figure 2 shows a diagram 300 to illustrate the functionality of the ultrasonic sensor unit 10 according to one embodiment. The diagram 300 preferably has a first axis 302 and a second axis 304. Preferably, a sound pressure of a respective received ultrasonic wave is plotted on the first axis 302. More preferably, time is plotted on the second axis 304. As shown in Figure 2, Fig. 2, it is preferably possible to determine which ultrasonic element 14 is arranged closest to the reference 20 based on the amplitude of the respective received ultrasonic wave. For example, a first curve 306 can be recorded which, in relation to the further curves 308, 310, 312, has the highest amplitude or the highest sound pressure. Thus, the ultrasonic sensor unit 10 can determine the ultrasonic element 14 which is arranged or aligned closest to the reference 20 or the ground. Further preferably, a plurality of ultrasonic elements 14 can also be at substantially the same distance from the ground, wherein the ultrasonic sensor unit 10 is configured to infer the alignment of the ultrasonic sensor unit 10 based on a comparison of different ultrasonic elements 14 with one another.Based on the second curve 308 and the third curve 310, the orientation of the ultrasonic sensor unit 10 can be further refined. More preferably, a fourth curve 312, which has a substantially low amplitude, can be used to determine the ultrasonic element 14 that is substantially facing away from the reference 20.

[0031] Fig. 3 shows an ultrasonic sensor unit 10 according to one embodiment. The ultrasonic sensor unit 10 preferably has an ultrasonic array 12 with four ultrasonic elements 14. The ultrasonic array 12 preferably has a first ultrasonic element 1, a second ultrasonic element 2, a third ultrasonic element 3, and a fourth ultrasonic element 4. The ultrasonic sensor unit 10 can preferably determine the orientation 18 of the ultrasonic sensor unit 10 in relation to the reference 20 with the aid of a transmitted ultrasonic wave set by means of the ultrasonic array 12. As shown in the Fig. 3, the positions of the ultrasonic elements 14 of the predetermined matrix 16 in relation to the reference 20 can be determined with the aid of the ultrasonic wave set or the sound pressure of the respective emitted ultrasonic wave. Based on the orientation 18, an assignment 400 can be made, in particular into a bottom left 402, a bottom right 404, an top left 406 and an top right 408. For example, the first ultrasonic element 1 can be assigned to the bottom left 402 based on the first curve 306, so that the first ultrasonic element 1 has the shortest distance to the reference 20. More preferably, the second ultrasonic element 2 can be assigned to the top left 406. More preferably, the third ultrasonic element 3 can be assigned to the top right reference 408. The fourth ultrasonic element 4 can be assigned to the bottom left 402 reference.

[0032] Fig. 4 shows an ultrasonic sensor unit 10 according to an embodiment. As in the comparison between Fig. 3 and Fig. 4 shows that the installation positions or orientations 18 of the ultrasonic sensor units 10 differ in comparison between Fig. 3 and Fig. 4. The ultrasonic sensor unit 10 preferably has a first ultrasonic element 1, a second ultrasonic element 2, a third ultrasonic element 3 and a fourth ultrasonic element 4. More preferably, each ultrasonic element 14 can be assigned to an orientation 500 with respect to a reference 20. There are preferably four orientations: bottom left 502, bottom right 504, top left 506 and top right 508. Based on the transmitted and received ultrasonic wave set, the first ultrasonic element 1 can be assigned to the bottom right reference 504. More preferably, the second ultrasonic element 2 can be assigned to the bottom left reference 502. Preferably, the third ultrasonic element 3 can be assigned to the top left reference 506. More preferably, the fourth ultrasonic element 4 can be assigned to the top right reference 508.

[0033] Fig. Figure 5 shows a flowchart illustrating steps of method 100 according to one embodiment. Method 100 preferably comprises the following steps: - Emitting S1 of an ultrasonic wave set by means of an ultrasonic array 12, with at least four ultrasonic elements 14, - Receiving S2 of the ultrasonic wave set by means of the ultrasonic array 12, - Determining S3 an orientation 18 of the ultrasonic sensor unit 10 in relation to a reference 20.

[0034] Fig. 6 shows a vehicle 200 according to one embodiment. The vehicle 200 preferably has an ultrasonic sensor unit 10, as described above and below, and / or a storage medium 202 that stores a computer program for carrying out the method 100, as described above and below.

Claims

[1] Ultrasound sensor unit (10) comprising an ultrasound array (12), wherein the ultrasound array (12) comprises at least four ultrasound elements (14) arranged in a predetermined matrix (16), wherein the ultrasound sensor unit (10) is configured to emit and receive a set of ultrasound waves by means of the ultrasound array (12), wherein the ultrasound sensor unit (10) is configured to determine an orientation (18) of the ultrasound sensor unit (10) relative to a reference (20) based on the emitted and received set of ultrasound waves. [2] Ultrasonic sensor unit (10) according to claim 1, wherein the ultrasonic sensor unit (10) is configured to emit a signal which is configured to indicate an installation position of the ultrasonic unit (10) in relation to the reference (20). [3] Ultrasound sensor unit (10) according to one of the preceding claims, wherein each of the ultrasound elements (14) is configured to form an ultrasound wave for forming the ultrasound wave set, wherein a first ultrasound wave set has a first orientation and a second ultrasound wave set has a second orientation, wherein the first orientation and the second orientation are different from each other. [4] Ultrasound sensor unit (10) according to claim 3, wherein the orientation (22) of the ultrasound waves has an angle between 20° and 40° to an axis (24) of the ultrasound array (12). [5] Ultrasound sensor unit (10) according to one of the preceding claims, wherein the received set of ultrasonic waves essentially comprises four reflections in the emitted ultrasonic waves, wherein the ultrasonic sensor unit (10) is configured to determine an amount of sound pressure of each reflection, wherein the ultrasonic sensor unit (10) is configured to determine, based on the amount with the highest sound pressure, the ultrasonic element (14) which has the shortest distance to the reference (20). [6] Ultrasound sensor unit (10) according to claim 5, wherein the ultrasound sensor unit (10) is configured to determine a distance between the respective ultrasound element (14) and the reference (20) for each reflection of the emitted ultrasound waves, wherein the ultrasound sensor unit (10) is configured to determine the orientation (18) of the ultrasound unit (10) in relation to the reference (20) based on the distances between the respective ultrasound elements (14) and the reference (20). [7] Ultrasound sensor unit (10) according to claim 6, wherein the ultrasound sensor unit (10) is configured to determine an orientation of the predetermined matrix (16) based on the distances between the respective ultrasound elements (14) and the difference (20) in order to determine the orientation (18). [8] Ultrasonic sensor unit (10) according to one of the preceding claims, wherein the ultrasonic sensor unit (10) is configured to generate at least one measured value by means of the ultrasonic array (12), wherein the ultrasonic sensor unit (10) is configured to adjust the measured value based on the orientation (18). [9] Computer-implemented method (100) comprising the steps: - Emitting (S1) an ultrasound wave set by means of an ultrasound array (12), with at least four ultrasound elements (14), - Receiving (S2) the ultrasound wave set by means of the ultrasound array (12), - Determining (S3) an orientation (18) of the ultrasonic sensor unit (10) in relation to a reference (20). [10] vehicle (200) comprising an ultrasonic sensor unit (10) according to any one of claims 1 to 8 and / or a storage medium (202) which stores a computer program for carrying out the method (100) according to claim 9.

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