Method for characterizing objects in the vicinity of a vehicle - Patents.com

Abstract

The present invention provides a method (100) for characterizing an object in the vicinity of a motorized vehicle using an assistance system for the motorized vehicle, in which the motorized vehicle moves relative to the object and an ultrasonic signal is emitted by an ultrasonic sensor of the assistance system. Echoes of the ultrasonic signal reflected from the object are received, and a control means is used to determine the amplitude of each of the received echoes, and a height classification of the object is determined based on these amplitudes. According to the present invention, the height classification of the object is determined based on a first amplitude change determined by comparing a first amplitude of a first echo with a second amplitude of a second echo received after the first echo. The present invention also provides an assistance system including an ultrasonic sensor and a control means designed to implement the method (100).

Description

[Technical field]

[0001] The present invention relates to Method for characterizing objects in the vehicle's surroundings by means of an assistant system of the vehicle , In this method, the vehicle It moves relative to the object and is detected by the ultrasonic sensors of the assistant system. Multiple The ultrasonic signal Call Be do. In this case, the object from Reflected Multiple Ultrasonic signal Multiple The echo is received and the received signal is sent using a control means. Multiple echo of Calculate the amplitude of each death , At that time, Object Height classification teeth, Current The invention further relates to an assistant system comprising an ultrasonic sensor and control means designed to implement the method. Regarding do. [Background technology]

[0002] Ultrasonic sensors generally use ultrasonic signals that propagate through the air at the speed of sound of approximately 340 meters per second. Call The ultrasonic sensor comprises a transmitting means for detecting the distance from the object to the object. In this case, the membrane of the ultrasonic sensor is usually vibrated mechanically by a corresponding transducer element. The ultrasonic signal is reflected as an echo from surrounding objects and is detected by the receiving means of the ultrasonic sensor. From the difference in travel time between the time of transmission and the time of reception, taking into account the propagation speed of the ultrasonic signal, the distance to the object, in other words the distance, can be determined. In this case, the amplitude of the reflected ultrasonic signal, or , the amplitude of the echo can be determined.

[0003] Ultrasonic sensors are typically used for vehicle peripheral detection with a range of up to about 7 meters. or Automated driving maneuvers, especially in parking applications, e.g. parking distance measurement, parking space search, or Ultrasonic sensors play an important role in parking. ,car Both usually move relative to the object. tree , At that time, During the movement, at predetermined times, one measurement cycle is performed. In each measurement cycle, an ultrasonic signal is generated from the ultrasonic sensor. Call In the prior art, the driver is already equipped with ultrasonic sensors. Car Provides various information about the surrounding areas of both ,car When driving a vehicle, it is particularly important to check the location of a parking space and to enter the parking space. the car Methods and corresponding assistance systems for supporting vehicles in parking are known, for example with parking space locating functions and ,car Whether there are parking spaces in the immediate vicinity of both or , the existing parking spaces, the car There are assistance systems that can indicate to the driver whether a parking space is large enough for the car to park in. Such assistance systems are used to accurately determine the location and dimensions of the parking space. ,car They need information about objects in the surrounding area, such as parked cars, curbs, walls and fences.

[0004] Up to the object the car In addition to the distance between the two, the height of the object is generally important. or This is an important factor in determining whether or not an obstacle can be overcome. the car When both are operating at least semi-autonomously based on ultrasonic sensor measurements, it is desirable to determine the height of a captured object.

[0005] Determining height is very difficult when using one-dimensional (1D) ultrasonic sensors, i.e. ultrasonic sensors for determining distance, which are commonly used in the automotive industry, due to physical limitations. When using such ultrasonic sensors, the height of an object cannot be measured directly. To determine height, methods such as using an additional camera and estimating the height based on a 2D image, also In the case of the camera, a method is used to estimate the height by using multiple sensors and applying triangulation. or Methods based on multiple sensors do not take advantage of the cost and robustness advantages of 1D ultrasonic sensors.

[0006] The species mentioned at the beginning of the kind Assistant System and The method is known, for example, from DE 10 2004 047 479 A1. When the vehicle passes an object located on the side of the vehicle, Divide the height of the object kind In order to ,car Using both ultrasonic sensors, Multiple Ultrasonic Signal was sent , And now The ultrasonic signal reflected by the object. of echo but Reception Be The height of the object is calculated based on the amplitude of the received echo. classification However, it is found out. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] DE 102004047479 Summary of the Invention [Problem to be solved by the invention]

[0008] Therefore, the problem to be solved by the present invention is ,carAn alternative method for characterizing objects at both peripheries and a corresponding method for reliably determining the height of an object at the lowest possible cost is presented. kind The aim of this study is to provide an assistant system that can [Means for solving the problem]

[0009] This problem is solved by the general teaching of claim 1 and the parallel independent claim 14. Expedient embodiments and developments of the invention are set out in the dependent claims and in the following description.

[0010] car Objects on both sides Using vehicle assistance systems To characterize According to the present invention By method ,car Both move relative to the object, and the ultrasonic sensors of the assistant system, To, 1D ultrasonic sensor Multiple The ultrasonic signal Call In this case, the object from of the reflected ultrasonic signal Multiple Echo is received In that case, A control means is used to control the amplitude of each of the received echoes. The percentage Based on these amplitudes, the height of the object is calculated. classification However, it is found out.

[0011] According to the present invention, the height of the object is divided kind First of The first amplitude of the echo and the first of The second received after the echo of The determination is based on a first amplitude change determined by comparing the second amplitude of the echo.

[0012] In this case, the present invention first determines the height of the object by using the vehicle's sensor, which is installed in any case. Cost-effective minutes kind Moreover, it is possible to realize the above without using additional sensors, or more precisely, other types of sensors, especially cameras. handleSensor data The fact that no fusion is used, which involves complex and interference-prone operations ,especially Cost-effective And it's sturdy Based on the consideration that the species will be further promoted, Further, the present invention relates to a method for manufacturing an ultrasonic sensor, the radiation pattern of which is: basic is generally a function of elevation angle, and is the distance from the ultrasonic sensor to objects within the capture area. Call It is also based on the consideration that the power of an emitted ultrasonic signal depends on its elevation angle. Objects located at a certain height, especially The vehicle is located at a height lower than the ultrasonic sensor mounting height. Ruo Object in the case of In particular, when the object is within a certain distance of the motor vehicle, or more precisely, the ultrasonic sensor, the elevation angle and, depending on it, the power, in other words, the amplitude of the reflected ultrasonic signal is ,car Both or The distance between the ultrasonic sensor and the object depends on this fact. classification To determine There are It is possible.

[0013] Therefore, in the present invention, the height of the object classification Move the object relative to Ku Ultrasonic sensors, especially To, 1D ultrasonic sensor Multiple Sensor Data Based solely on , first of The first and second amplitudes of the echo of The amplitude of the second echo is compared to the Be The first amplitude change Based on Divide Being There are To provide .

[0014] The embodiment of the present invention is Cost-effective, Reliable 、 The height of the object kind The present invention has the advantage that a method is provided which enables

[0015] Characterization Should be Object To , from the ground, e.g., road surfaces or other surfaces extension death, Extends essentially perpendicular to the groundIt is an object that It is okay However, for example, fence rails and other objects that are above ground level extension Objects that do not also For example, slope etc. against the ground Extending perpendicularly Objects that are not It is okay .

[0016] Ultrasonic sensors, in particular 1D ultrasonic sensors, e.g. ,car Both bumpers Inside or behind the bumper Placed in vinegar Alternatively, teeth ,Ultrasonic sensors, in particular 1D ultrasonic sensors, e.g. ,car Both doors etc. Body of In the component Or the back side of the body components Placed in vinegar It is also possible.

[0017] single Ultrasonic sensors, especially To, One 1D ultrasonic sensor only Alternatively, multiple ultrasonic sensors, especially To, It is also possible to use multiple 1D ultrasonic sensors.

[0018] In a preferred embodiment, the first of Echo and the Second of The echoes are consecutive in time.

[0019] especially," "High" and "Low" The two classes are used to classify the height of objects. In this case, the object but At least the mounting height of the ultrasonic sensor Sani In some cases If, In short, especially Current If the object has a height at least equivalent to the mounting height of the ultrasonic sensor, it is determined to be “tall.” kind On the other hand, the object but The ultrasonic sensor is mounted at a Down In the case If, In short, especially Current The object HeightHowever, the ultrasonic sensor is installed at a higher If it is lower, the object "Low" kind will be done.

[0020] Some further Advantageous In the embodiment teeth, Objects are ,car In the vicinity of both, preferably ,car Within two meters of both ultrasonic sensors Located at a distance , At that time, When the vehicle approaches the object, a decrease in amplitude over time is determined as the first amplitude change. Objects are Low and Min kind When the first amplitude change is determined to be an increase in amplitude over time, Objects are High and Minute kind If it is low, stomach cormorant classification Especially, the ultrasonic sensor is mounted at a higher height. Down position Object In other words, it is particularly indexed to objects having a height lower than the mounting height of the ultrasonic sensor. Such objects are, for example, curbs. Classification of size In particular, at least at the mounting height of the ultrasonic sensor Object In other words, the object is determined to have a height that corresponds at least to the mounting height of the ultrasonic sensor. Such objects are, for example, walls, fences, also is another vehicle.

[0021] This is true at least for objects at the mounting height of the ultrasonic sensor. ,car Both or The ultrasonic sensor detects the object. Move towards Ouch During , based on the fact that the elevation angle does not change. Thus, the power, or in other words the reflected ultrasonic signal, or The amplitude of the echo depends only on the distance between the object and the ultrasonic sensor. To The amplitude of the reflected ultrasonic signal then depends on ,car Both, or more precisely, ultrasonic sensors, detect the proximity of such objects. When I was , i.e., between the object and the ultrasonic sensor distance Is small Was On the other hand, if the object is below the mounting height of the ultrasonic sensor, , O Between the object and the ultrasonic sensor A certain distance below So the elevation angle is Change, and vehicle or The ultrasonic sensor is directed toward the object. Move As The elevation angle is The amplitude of the reflected ultrasonic signal then decreases. the car Both or As the ultrasonic sensor approaches such an object, the amplitude decreases. In fact, the amplitude itself decreases as the distance between the object and the ultrasonic sensor decreases. As , it becomes larger. However, 、 Here, as the distance decreases, the elevation angle becomes smaller, which is a factor that prevails. As a result, the amplitude of the reflected ultrasonic signal becomes whole becomes significantly smaller.

[0022] In a further preferred embodiment, the height of the object classification First amplitude The amplitude change is calculated by comparing the amplitude change with the second amplitude change. In that case, The second amplitude change is a second of The third signal received after the echo of The third amplitude of the echo and, second of The second amplitude of the echo is By comparing , also The second of After Echo and Third of The fourth received before the echo of The height of the object is determined by comparing the fourth amplitude of the echo with the fourth amplitude of the echo. classification The robustness of the device is further improved.

[0023] In this regard, in a further preferred embodiment ,car As they approach the object, The amplitude increase over timeAs the first amplitude change Divided , The amplitude decrease over time The second amplitude change is Tewari When issued, the object is determined to be low. kind will be done.

[0024] This is an object, such as a curb, that is below the mounting height of the ultrasonic sensor, i.e. in particular has a height lower than the mounting height of the ultrasonic sensor, and which object By car Both sides Kunimada No, preferably ,car Distance greater than two meters for both ultrasonic sensors Near If the elevation angle is at least about 90°. So here, the power, or in other words the amplitude of the reflected ultrasonic signal is basic Essentially, it only depends on the distance between the object and the ultrasonic sensor. edge, The amplitude of the reflected ultrasonic signal or echo is or The ultrasonic sensor detects the proximity of such objects. When I was , i.e., between the object and the ultrasonic sensor distance Is small Was At times, First That is, here, the first amplitude change is the amplitude increase over time. Bring. Car Both or The ultrasonic sensor detects the object as it approaches. after that , the object is, By car Both near-field areas, preferably ,car Both ultrasonic sensors from Less than two metres away Located case, Vehicle Change To approach As , elevation angle but change death , In that case, this angle is It becomes smaller than 90°. The distance becomes closer or smaller reduction When doing so , sequentially moreover decrease do . For this reasonThe amplitude of the reflected ultrasonic signal also becomes smaller with further approach. In fact, the amplitude itself increases as the distance between the object and the ultrasonic sensor decreases. However, in this case, the factor of the smaller elevation angle as the distance decreases becomes dominant, which causes the amplitude of the reflected ultrasonic signal to decrease. The whole That is, here, the second amplitude change is the amplitude decrease over time. bring about By comparing the first and second amplitude changes, the first amplitude change shows an increase in amplitude over time. Allocated , and If the second amplitude change is determined as a decrease in amplitude over time, the object is considered to be low. kind will be done.

[0025] In certain further preferred embodiments 、 The object is ,car In the vicinity of both, preferably is a car Within two meters of both ultrasonic sensors Located , At that time, the vehicle When both approach an object, The decrease in amplitude over time The first and second amplitude changes are Tewari It was brought out, moreover, Additionally, if the second amplitude change is greater than the first amplitude change, Object Low and Min kind That is, the degree of amplitude reduction is also taken into consideration here.

[0026] This is the case for objects, such as curbs, that are below the mounting height of the ultrasonic sensor, i.e. in particular have a height lower than the mounting height of the ultrasonic sensor, and the objects ,car Located in the vicinity of both, preferably ,car Closer than two meters to both ultrasonic sensors Located in case ,car Both or Ultrasonic sensor , O Towards the object Move further During To , The elevation angle is The result is that the reflected ultrasound signal orThe amplitude of the echo also decreases with approach. In fact, the amplitude itself decreases as the distance between the object and the ultrasonic sensor decreases. stomach However, here, as the distance decreases, the factor of the smaller elevation angle becomes dominant, and as a result, the amplitude of the reflected ultrasonic signal becomes whole That is, here, the second amplitude change exhibits a larger amplitude decrease over time than the amplitude decrease of the first amplitude change. arise As a result, the object is classified as low kind will be done.

[0027] In certain further preferred embodiments 、 The object is ,car Both sides Nearby, Preferably is a car Within two meters of both ultrasonic sensors Located , At that time, the vehicle When both approach an object , No. The amplitude increase over time is determined as a first amplitude change and a second amplitude change, respectively, and additionally, if the second amplitude change is greater than the first amplitude change, Object High and Minute kind That is, the degree of amplitude increase is also taken into consideration here.

[0028] This is at least the mounting height of the ultrasonic sensor. Located in , i.e. in particular, a wall, a fence, etc., having a height at least corresponding to the mounting height of the ultrasonic sensor. also is an object such as a vehicle. in the case of , the object is ,car Both sides Near , preferably ,car Even if the distance between the ultrasonic sensors is closer than two meters ,car Both or The ultrasonic sensor moves towards the object. Move During The elevation angle is Therefore, the power, or more precisely the amplitude, of the reflected ultrasonic signal depends only on the distance between the object and the ultrasonic sensor. or The amplitude of the echo is ,car Both or When the ultrasonic sensor approaches such an object, i.e., when the ultrasonic sensor detects a distance That is, the second amplitude change is obtained as a larger amplitude increase over time than the amplitude increase of the first amplitude change, so that the object is recognized as being tall. kind will be done.

[0029] In a further preferred embodiment, the height of the object is additionally determined if the absolute value of the first amplitude change is greater than a predetermined threshold value. classification This way, the height of the object is calculated. classification The reliability of the indexing is further improved. or Alternatively, in an embodiment where a second amplitude change is considered, preferably the change in height of the object classification is additive or Alternatively, it is determined if the absolute value of the second amplitude change is greater than a pre-given threshold value.

[0030] In a further preferred embodiment, the threshold value is then: Vehicle current status Speed ​​and / or also teeth ,car Both ambient temperatures, and / or also teeth ,car Humidity in both areas, and / or also teeth ,car It is predetermined depending on the mounting height of both ultrasonic sensors. . car The temperature of both surroundings is transportation sound of Attenuation Notable Impact Give Therefore, the temperature is captured by the corresponding sensor, Accordingly Threshold Match This allows for a more reliable determination of the height of an object. kind can be achieved.

[0031] In a further preferred embodiment, the comparison of the amplitudes is based on the difference in amplitudes, and / or also teeth, amplitude It is based on the ratio of

[0032] In a further preferred embodiment, the comparison of the amplitude changes comprises comparing the difference in the amplitude changes and / or also teeth, Amplitude Change It is based on the ratio of

[0033] In a further preferred embodiment, the method comprises the steps of: Parking Process and / or also Semi-automatic Parking Process and / or also is used in the automated parking process.

[0034] In a further preferred embodiment, the height of the object is divided kind is based only on ultrasonic sensor data. In other words, other sensors, such as cameras and radar sensors, are not used to measure height. classification It is not used to determine the

[0035] Furthermore, the invention also encompasses an assistant system having an ultrasonic sensor and control means, the control means being designed in such a way that it is possible to carry out the method according to the invention.

[0036] It should be noted that the advantages and preferred embodiments described for the method according to the present invention are equally valid for the assistant system according to the present invention.

[0037] Hereinafter, the embodiments of the present invention will be described in more detail with reference to the drawings. 。 [Brief description of the drawings]

[0038] [Figure 1] FIG. 1 shows a radiation chart illustrating the radiation pattern of an ultrasonic sensor as a function of the elevation angle. [Diagram 2]FIG. 2 shows a graph of the elevation angle of an ultrasonic sensor according to FIG. 1 as a function of the distance from an object. [Diagram 3] FIG. 3 shows a flow chart of a method for characterizing objects in the vicinity of a vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] Corresponding parts are always labeled with the same reference numbers in all figures.

[0040] Figure 1 shows the radiation pattern of an ultrasonic sensor. 1 As can be seen, the radiation pattern 1 of an ultrasonic sensor is a function of the elevation angle, i.e., the power of the ultrasonic signal emitted from the ultrasonic sensor to an object within the capture area depends on its elevation angle.

[0041] If an object is at an elevation angle of 90°, i.e. at least Car When both ultrasonic sensors are at the same mounting height ,car However, to be precise, the elevation angle does not change as the ultrasonic sensor approaches an object. The power, or in other words the reflected ultrasonic signal or The amplitude of the echo depends only on the distance between the ultrasonic sensor and the object. Therefore, the amplitude of the reflected ultrasonic signal is the car Both or The ultrasonic sensor becomes progressively louder as it approaches taller objects.

[0042] car For objects with a height lower than the mounting height of both ultrasonic sensors, The elevation angle, and therefore the power or amplitude of the reflected ultrasonic signal, is vehicle or Depends on the distance between the ultrasonic sensor and the object ,strange To . car Both or As the ultrasonic sensor approaches an object, the elevation angle gradually decreases until it reaches approximately 0° when the ultrasonic sensor is very close to the object.

[0043] Figure 2 shows the elevation angle in Figure 1. Yo Ultrasonic sensors 、 Graph of the distance from an object as a function of distance from the object. ,car The object has a height 40 cm lower than the mounting height of the ultrasonic sensors attached to both sides. Here, the object is configured as a curb. It has been made.

[0044] The graph shows that the object is Car Especially if they are not in close proximity to each other. ,car It turns out that when the distance between the two ultrasonic sensors is more than two meters, the elevation angle is approximately 90°. In short, in this region, the power of the reflected ultrasonic signal, or more precisely, its amplitude, essentially depends only on the distance between the object and the ultrasonic sensor. The amplitude of the reflected ultrasonic signal is then ,car Both or When the ultrasonic sensor approaches such an object, i.e., when the ultrasonic sensor detects a distance becomes larger when becomes smaller.

[0045] car Both or The ultrasonic sensor is moved closer to the object, so that the object ,car Both close-range areas, especially ,car When the object is within two meters of both ultrasonic sensors, the elevation angle decreases significantly with increasing proximity. As a result, the amplitude of the reflected ultrasonic signal also decreases with increasing proximity. In fact, the amplitude itself increases with increasing distance between the object and the ultrasonic sensors. Short However, here, as the distance decreases, the factor of the smaller elevation angle becomes dominant, and as a result, the amplitude of the reflected ultrasonic signal becomes whole becomes significantly smaller.

[0046] Figure 3 shows ,car1 is a flow chart of a method 100 for characterizing objects in both peripheries, the car Both are control means and ,car It is located in the front bumper of both vehicles, as shown in Figure 1. Yo The system includes an assistant system equipped with a 1D ultrasonic sensor with a radiation pattern that the car The vehicle gradually approaches the object from a distance of 2.5 meters, with the object in front of it, while the ultrasonic sensor continuously detects Multiple Ultrasonic signal Call The object here is ,car The curb is approximately 40 cm lower than the mounting height of the ultrasonic sensors in both vehicles.

[0047] In step 101, the first of The echo is received and the first of The first amplitude of the echo is determined.

[0048] In step 102, the first of Secondary echocardiogram of The echo is received and the second of A second amplitude of the echo is determined.

[0049] In step 103, a first amplitude change is determined by comparing the first amplitude to the second amplitude. In this case, an amplitude increase is determined because at the time of measurement, the object is an undetected object. Car Not in either neighborhood, i.e. ,car With a distance of more than two meters between the two ultrasonic sensors, the elevation angle is approximately 90°. In this region, the power of the reflected ultrasonic signal, or more precisely, its amplitude, essentially depends only on the distance between the object and the ultrasonic sensor. That is, the amplitude of the reflected ultrasonic signal is then ,car Both or When the ultrasonic sensor approaches such an object, i.e., when the ultrasonic sensor detects a distance becomes larger when becomes smaller, i.e., the first amplitude change is now obtained as an amplitude increase over time.

[0050] At the time of measurement, the object is Car Since neither of the two locations were in close proximity, the final calculation of the object's height based on the amplitude change was kind is not performed and the method 100 returns to step 102. This allows a further, second in time of The third one following Echo of The echo is received and the third of The third amplitude of the echo is determined.

[0051] Then, in step 103, a second amplitude change is determined by comparing the second amplitude to the third amplitude. the car Both are in the direction of the object. Move further When further measurements are made, the object But the car In the vicinity of both Located Specifically, ,car Both or 0.5 meters away from the ultrasonic sensor Located Therefore, a decrease in amplitude is identified as the second amplitude change. This is because the elevation angle is significantly less than 90° in this region, and therefore the amplitude of the reflected ultrasonic signal is whole This is due to a decrease in the number of of The third amplitude of the echo is of The second amplitude of the echo is now smaller than the second amplitude of the echo, i.e., the second amplitude change is now obtained as an amplitude decrease over time.

[0052] In step 104, the height of the object classification In this case, a comparison is made between the first amplitude change and the second amplitude change. In this case, since an increase in amplitude over time is determined as the first amplitude change and a decrease in amplitude over time is determined as the second amplitude change, the object is determined to be low. kind will be done.

[0053] Based on this method 100 I ,The height of the object, in this case the height of the curb, Cost-effective and in a reliable manner. Similar It is possible. This application relates to the invention described in the claims, but also includes the following as other aspects. 1. A method (100) for characterizing objects in the vicinity of a vehicle by means of an assistant system of said vehicle, comprising: The method includes: moving the vehicle relative to the object; and transmitting a plurality of ultrasonic signals by an ultrasonic sensor of an assistant system; Then, a plurality of echoes of the plurality of ultrasonic signals reflected from the object are received; and determining, using control means, an amplitude of each of the received plurality of echoes and determining a classification of the height of the object based on said plurality of amplitudes. In the method, 1. The method (100), wherein a classification of an object's height is determined based on a first amplitude change determined by comparing a first amplitude of a first echo to a second amplitude of a second echo received after the first echo. 2. 11. The method (100) according to claim 1, wherein the first echo and the second echo are successive echoes in time. 3. 3. The method (100) according to claim 1 or 2, characterized in that the object is in the vicinity of the vehicle, preferably within a distance of two meters from the ultrasonic sensor of the vehicle, and when the vehicle approaches the object, the first amplitude change is classified as low if a decrease in amplitude over time is determined, and is classified as high if an increase in amplitude over time is determined. 4. 4. The method (100) according to any one of claims 1 to 3, characterized in that the classification of the height of the object is determined by comparing the first amplitude change with the second amplitude change, the second amplitude change being determined by comparing a third amplitude of a third echo received after the second echo with the second amplitude of the second echo or by comparing a fourth amplitude of a fourth echo received after the second echo and before the third echo. 5. 5. The method (100) according to claim 4, wherein the object is classified as low if an increase in amplitude over time is determined as a first amplitude change and a decrease in amplitude over time is determined as a second amplitude change as the vehicle approaches the object. 6. 5. The method (100) according to claim 4, characterized in that when the object is in the vicinity of the vehicle, preferably within a distance of two meters to the ultrasonic sensor of the vehicle, and when the vehicle approaches the object, a decrease in amplitude over time is determined as a first amplitude change and a second amplitude change, respectively, and additionally, if the second amplitude change is greater than the first amplitude change, the object is classified as low. 7. 7. A method (100) according to any one of claims 4 to 6, characterized in that when the object is in the vicinity of the vehicle, preferably within a distance of two meters of the ultrasonic sensor of the vehicle, and when the vehicle approaches the object, a first amplitude change and a second amplitude change are determined, respectively, as an amplitude increase over time, and additionally, if the second amplitude change is greater than the first amplitude change, the object is classified as tall. 8. 8. The method (100) according to any one of 1 to 7 above, further characterized in that if the absolute value of the first amplitude change is greater than a predefined threshold, a classification of the height of the object is determined. 9. 9. The method (100) according to claim 8, characterized in that the threshold value is predetermined depending on the current speed of the vehicle, and / or the temperature around the vehicle, and / or the humidity around the vehicle, and / or the mounting height of the ultrasonic sensor on the vehicle. 10. 10. The method (100) according to any one of 1 to 9 above, wherein the comparison of the amplitudes is based on an amplitude difference and / or an amplitude ratio. 11. 11. The method (100) according to any one of claims 4 to 10, wherein the comparison of the amplitude changes is based on a difference in the amplitude changes and / or on the amplitude changes. 12. Method (100) according to any of the preceding claims, characterized in that the method is used for assisted parking processes and / or semi-automated parking processes and / or automatic parking processes. 13. 13. A method (100) according to any one of 1 to 12 above, characterized in that the classification of the height of the object is based solely on sensor data of the ultrasonic sensor. 14. An assistant system comprising an ultrasonic sensor and control means designed to implement a method (100) according to any one of 1 to 13 above.

Claims

1. A method (100) for characterizing objects in the vicinity of a vehicle by means of an assistant system of said vehicle, comprising: The method includes: moving the vehicle relative to the object; and transmitting a plurality of ultrasonic signals by an ultrasonic sensor of an assistant system; Then, a plurality of echoes of the plurality of ultrasonic signals reflected from the object are received; and determining, using control means, an amplitude of each of the received plurality of echoes and determining a classification of the height of the object based on the plurality of amplitudes. In the method, A classification of the height of the object is determined by comparing the first amplitude change to the second amplitude change; the first amplitude change is determined by comparing a first amplitude of a first echo to a second amplitude of a second echo received after the first echo; the second amplitude change is determined by comparing a third amplitude of a third echo received after the second echo to a second amplitude of the second echo or a fourth amplitude of a fourth echo received after the second echo and before the third echo; As the vehicle approaches the object, (a) classifying the object as low if an amplitude increase over time is determined as a first amplitude change and an amplitude decrease over time is determined as a second amplitude change; (b) determining the amplitude decrease over time as a first amplitude change and a second amplitude change, respectively, and additionally classifying the object as low if the second amplitude change is greater than the first amplitude change; (c) determining an amplitude increase over time as a first amplitude change and a second amplitude change, respectively, and additionally classifying the object as tall if the second amplitude change is greater than the first amplitude change; At least one of (a) to (c) is A method (100) comprising:

2. 2. The method of claim 1, wherein the first echo and the second echo are successive echoes in time.

3. 3. The method (100) according to claim 1 or 2, characterized in that the object is in the vicinity of the vehicle, preferably within a distance of two meters to an ultrasonic sensor of the vehicle.

4. The method (100) according to any one of claims 1 to 3, further comprising determining a classification of the height of the object if the absolute value of the first amplitude change is greater than a predefined threshold value.

5. 5. The method (100) according to claim 4, characterized in that the threshold value is predetermined depending on the current speed of the vehicle, and / or the temperature in the vicinity of the vehicle, and / or the humidity in the vicinity of the vehicle, and / or the mounting height of the ultrasonic sensor on the vehicle.

6. 6. The method (100) of any one of claims 1 to 5, characterized in that comparing the first amplitude to the second amplitude to determine a first amplitude change and comparing the third amplitude to the second amplitude or the fourth amplitude to determine a second amplitude change are based on the amplitude difference and / or the amplitude ratio.

7. 7. The method (100) according to any one of claims 1 to 6, characterized in that the comparison of the first amplitude change with the second amplitude change to determine a classification of the height of the object is based on a difference between the first amplitude change and the second amplitude change and / or a ratio between the first amplitude change and the second amplitude change.

8. Method (100) according to any one of the preceding claims, characterized in that the method is used for assisted parking processes and / or semi-automated parking processes and / or automatic parking processes.

9. Assistant system comprising an ultrasonic sensor and control means designed to implement the method (100) according to any one of claims 1 to 8.

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