Method for operating an ultrasonic sensor, computer program product, ultrasonic sensor system, and vehicle - Patents.com

Abstract

A method for operating an ultrasonic sensor (2) comprising a membrane (3) and an exciter element (4), the method comprising the steps of: retrieving (S1) calibration data from a storage unit (9) for storing calibration data, the calibration data comprising a first frequency response (FR1) of the ultrasonic sensor in a transmission direction (SD) depending on a membrane excitation frequency at different membrane temperatures and a second frequency response (FR2) of the ultrasonic sensor in a reception direction (RD) depending on a membrane excitation frequency at different membrane temperatures; determining (S2) a current membrane temperature; determining (S3) a sensitivity of the ultrasonic sensor using the first and second frequency responses at the current membrane temperature; and controlling (S4) a current supplied to the exciter element and / or a gain of the ultrasonic sensor based on a difference between the determined sensitivity and a pre-stored sensitivity.

Description

[Technical field]

[0001] The present invention relates to a method for operating an ultrasonic sensor, a computer program product, an ultrasonic sensor system, and a vehicle having such an ultrasonic sensor system. [Background technology]

[0002] Ultrasonic sensors can be used in vehicles to determine the distance between the vehicle and objects located in the vehicle's surroundings. Such ultrasonic sensors may comprise a housing and an ultrasonic membrane arranged in an opening of the housing. The ultrasonic sensor may be used to measure the distance to objects in the vehicle's surroundings according to the pulse-echo method. In this process, the ultrasonic membrane is excited by an exciter element attached to it and emits energy in the form of an ultrasonic signal. The exciter element then detects the vibrations of the ultrasonic membrane caused by the echo signal returning from the vehicle's environment. The distance to the object is determined based on the signal propagation time. Such measurements are used, for example, in parking assistance systems in automobiles. It is known that temperature affects the sensitivity of ultrasonic sensors.

[0003] DE 10 2012 002979 A1 shows an ultrasonic sensor as mentioned above, in which a temperature-dependent oscillator is used as exciter element in order to compensate for the ambient temperature-dependent signal propagation time of the ultrasonic sensor.

[0004] In DE 10 2009 039 083 A1, the ambient temperature of an ultrasonic sensor is determined by observing the ultrasonic vibrations of a membrane and comparing this with a reference value.

[0005] The ultrasonic sensor according to DE 10 2012 215 493 A1 includes a temperature sensor, whereby different values ​​of the threshold, at which an echo signal is recognized, are set for different temperature values ​​which the temperature sensor measures.

[0006] In US 2007 / 0157728 A1 the temperature correction is based on the ambient temperature. Summary of the Invention

[0007] One object of the present invention is to improve methods for operating ultrasonic sensors.

[0008] According to a first aspect, a method for operating an ultrasonic sensor, in particular an ultrasonic sensor for a vehicle, is provided, said ultrasonic sensor comprising a membrane and an exciter element for exciting said membrane and / or detecting vibrations of said membrane, said method comprising the steps of: Obtaining calibration data from a storage unit for storing calibration data, the calibration data including information on a first frequency response of the ultrasonic sensor in a transmission direction depending on a membrane excitation frequency at different membrane temperatures and information on a second frequency response of the ultrasonic sensor in a reception direction depending on a membrane vibration frequency at different membrane temperatures; determining a current membrane temperature; determining a sensitivity (determined sensitivity) of the ultrasonic sensor using the first frequency response at the current membrane temperature and the second frequency response at the current membrane temperature; controlling a current supplied to the exciter element and / or a gain of the ultrasonic sensor based on a difference between the determined sensitivity and a pre-stored sensitivity; Equipped with.

[0009] By controlling the current supplied to the exciter element and / or the gain of the ultrasonic sensor, the sensitivity of the ultrasonic sensor for a given signal path can be adjusted. In particular, the sensitivity can be modified to approach or reach a pre-stored sensitivity, which may be a target sensitivity. Advantageously, the sensitivity can be adjusted in a temperature-dependent manner, thereby increasing the accuracy of the sensitivity adjustment. The temperature dependence of the transfer function in the transmit direction and / or the temperature dependence of the transfer function in the receive direction, respectively, can be compensated. A robust temperature compensation is achieved over the entire membrane temperature spectrum.

[0010] The ultrasonic sensor may be used in a vehicle to determine the distance between the vehicle and objects located around the vehicle. The vehicle may be embodied as a passenger vehicle such as a car, truck, bus, train, airplane, etc. The ultrasonic sensor may be part of a parking assistance system in an automobile.

[0011] The ultrasonic sensor may include a housing and an ultrasonic membrane (also referred to as a "membrane") disposed in an opening of the housing. The ultrasonic sensor may be used to measure the distance to an object in the vehicle's environment according to a pulse-echo method. In this process, the ultrasonic membrane is excited by an exciter element attached thereto and emits energy in the form of an ultrasonic signal. The exciter element then detects vibrations of the ultrasonic membrane from the echo signal returning from the object in the vehicle's environment. The distance to the object is determined based on the signal propagation time.

[0012] The temperature of the membrane (also referred to as "membrane temperature") can affect the sensitivity of an ultrasonic sensor by changing the properties of the membrane. In other words, the transfer function of the ultrasonic sensor, expressed as gain versus frequency, changes with temperature.

[0013] To calibrate the ultrasonic sensor, the temperature of the membrane is determined. The temperature of the membrane can be determined by calculation, without using a temperature sensor directly attached to the membrane. The temperature of the membrane is a temperature specific to the membrane and does not correspond in particular to an ambient temperature, to room temperature, to the temperature surrounding the ultrasonic sensor, etc. By determining the exact temperature of the membrane, the temperature dependence of the membrane's properties can be better compensated for. Advantageously, the temperature dependence of the sensitivity can be compensated for.

[0014] The expression "current temperature" refers to the true or actual temperature of the membrane at a particular point in time. The current temperature does not have to be determined continuously, but may be determined at predetermined intervals of time, for example every minute, every few minutes, etc.

[0015] The steps of obtaining calibration data, determining the current temperature, determining the determination sensitivity and / or controlling the current supplied to the exciter element and / or the gain of the ultrasonic sensor are preferably part of a calibration process (calibration phase) of the ultrasonic sensor, which is performed before using the ultrasonic sensor in its operating process (operation phase).

[0016] The calibration data may be pre-stored data in the storage unit. The information regarding the first frequency may be stored as a different curve or table for each temperature. The information regarding the second frequency may be stored as a different curve or table for each temperature. Preferably, the calibration data is determined individually for each ultrasonic sensor. The calibration data may be specific to the corresponding ultrasonic sensor and / or may be specific to the signal path (described further below). This increases the accuracy with which the sensitivity can be determined and adjusted.

[0017] The first frequency response of the ultrasonic sensor in the transmit direction as a function of the membrane excitation frequency (which depends on the membrane excitation frequency) may indicate how the transfer function of the ultrasonic sensor varies with frequency and temperature in the transmit direction. In the transmit direction, the transfer function may indicate how the output of the membrane varies with excitation frequency from the exciter element. The first frequency response may be expressed in decibels (dB) or dimensionless when divided by a reference frequency response at room temperature, as described below. The frequency may be expressed in Hertz or Kilohertz (Hz or kHz). The temperature may be expressed in Celsius (°C). The transmit direction is the direction in which the ultrasonic sensor transmits the ultrasonic signal.

[0018] The second frequency response of the ultrasonic sensor in the receive direction as a function of the membrane excitation frequency (which depends on the membrane excitation frequency) may indicate how the transfer function of the ultrasonic sensor changes with frequency and temperature in the receive direction. In the receive direction, the transfer function may indicate how the signal received at the exciter element changes with the membrane vibration frequency. The second frequency response may be expressed in decibels (dB) or dimensionless when divided by a reference frequency response at room temperature, as described below. The frequency may be expressed in Hertz or Kilohertz (Hz or kHz). The temperature may be expressed in Celsius (°C). The receive direction is the direction in which the ultrasonic sensor receives ultrasonic signals, in particular echoes from ultrasonic signals previously transmitted by the membrane and reflected back by an object.

[0019] The first frequency response at the current membrane temperature preferably comprises a frequency-dependent first frequency response (stored in the calibration data, as a curve or table, or in a curve or table) corresponding to the determined current membrane temperature. The second frequency response at the current membrane temperature preferably comprises a frequency-dependent second frequency response (stored in the calibration data, as a curve or table, or in a curve or table) corresponding to the determined current membrane temperature.

[0020] The sensitivity of an ultrasonic sensor refers in particular to the integral of the difference between the transfer function in the transmit direction (represented by a first frequency response) and the transfer function in the receive direction (represented by a second frequency response) multiplied by a predefined weighting factor. The integration is performed over the entire (frequency) bandwidth or over the (frequency) bandwidth of interest for the sensitivity.

[0021] The determined sensitivity may be the current sensitivity of the ultrasonic sensor, in other words, the sensitivity of the ultrasonic sensor at any point in time and at any (e.g., current) membrane temperature.

[0022] The pre-stored sensitivity may be a sensitivity of the ultrasonic sensor that is pre-set or pre-stored, for example, in the storage unit or in a different storage device. The pre-stored sensitivity may be a target sensitivity. The target sensitivity is preferably the same for multiple or all signal paths, in particular for multiple or all ultrasonic sensors of the same type. Having the same target sensitivity for multiple signal paths and / or ultrasonic sensors is advantageous, since all of these sensors output the same signal when detecting the same object at the same distance. This facilitates the analysis of the signals output by multiple ultrasonic sensors.

[0023] The current may be modified by a control unit. The control unit changes the current to the exciter element as a function of the difference between the determined sensitivity and the pre-stored sensitivity. The current supplied to the exciter element may indicate how the exciter element excites the membrane. The ultrasonic signal output by the ultrasonic sensor may change as the current changes. By changing the current, the output of the ultrasonic sensor and thus its sensitivity may be modified. Preferably, the current is adjusted to compensate for the difference between the determined sensitivity and the pre-stored sensitivity. In particular, the difference between the determined sensitivity and the pre-stored sensitivity is reduced in the step of controlling the current. The step of "controlling the current" preferably includes a modification (adjustment) of the current.

[0024] For example, the greater the difference between the determined sensitivity and the pre-stored sensitivity, the greater the current modification in the "control" step. Preferably, the amount by which the current is adjusted is proportional to the difference between the determined sensitivity and the pre-stored sensitivity. The amount by which the current is adjusted may be provided by a model stored as a table, graph, or the like. In particular, the model may indicate that a gain of X decibels (corresponding to a given change in sensitivity) can be achieved by a change of Y amperes.

[0025] In an arrangement of multiple ultrasonic sensors, modifying the current supplied to the exciter element of a first ultrasonic sensor modifies the signal that any ultrasonic sensor receives from the first ultrasonic sensor. Thus, modifying the current does not adjust the sensitivity of an individual signal path, but only the sensitivity of multiple signal paths (one signal path corresponds to the path from the transmitter to the receiver). Typically, modifying the current allows a coarse adjustment of the sensitivity.

[0026] The gain is in particular a digital gain. Modifying the gain may correspond to multiplying the output signal of the ultrasonic sensor, i.e. the amplitude of the received signal, by a predefined constant. The (digital) gain of the ultrasonic sensor, in particular of the individual signal paths, may be adjusted directly by a gain adjustment of the control unit (which may be an ASIC). The ultrasonic signal output by the ultrasonic sensor may vary depending on the change in gain. By changing the gain, the output of the ultrasonic sensor and thus its sensitivity may be modified. Preferably, the gain is adjusted to compensate for the difference between the determined sensitivity and the pre-stored sensitivity. In particular, the difference between the determined sensitivity and the pre-stored sensitivity is reduced in the step of controlling the gain. The step of "controlling the gain" preferably comprises a modification (adjustment) of the gain.

[0027] For example, the greater the difference between the determined sensitivity and the pre-stored sensitivity, the greater the gain modification in the "control" step. Preferably, the amount by which the gain is adjusted is proportional to the difference between the determined sensitivity and the pre-stored sensitivity. The amount by which the gain is adjusted may be provided by a stored model, such as a table or graph. In particular, the model may indicate that a sensitivity change of M Hertz can be achieved with a change of N decibels.

[0028] The gain can be modified individually for each signal path, such that gain adjustment allows fine tuning of the sensitivity for each ultrasonic sensor, and specifically for each signal path.

[0029] Any sensitivity of the ultrasonic sensor can be achieved by gain adjustment alone. However, modifying the gain significantly (e.g., more than 3 dB) adversely increases noise. By using both the current and the gain to compensate for the difference between the determined sensitivity and the pre-stored sensitivity, the sensitivity can be adjusted by a sufficient amount (by adjusting the current) and with sufficient precision (by adjusting the gain) while keeping the noise low. When the controlling step includes both controlling the current and controlling the gain, preferably the current control is performed before the gain control.

[0030] According to one embodiment, the current supplied to the exciter element and / or the gain of the ultrasonic sensor are controlled to compensate for the difference between the determined sensitivity and the pre-stored sensitivity.

[0031] In particular, the current supplied to the exciter element and / or the gain of the ultrasonic sensor are controlled such that when the first and second frequency responses are measured again after adjusting the current supplied to the exciter element and / or the gain of the ultrasonic sensor, a new determined sensitivity determined based on the new measurements of the first and second frequency responses is closer to the pre-stored sensitivity than the determined sensitivity determined before adjusting the current supplied to the exciter element and / or the gain of the ultrasonic sensor.

[0032] According to another embodiment, the method further includes a step of controlling the membrane excitation frequency and / or the detection frequency range in which the ultrasonic sensor is set to detect the vibrations of the membrane based on the acquired calibration data and the determined current membrane temperature.

[0033] Thereby, the temperature dependence of the transfer function in the transmission direction and / or the temperature dependence of the transfer function in the reception direction, respectively, can be compensated in a frequency-dependent manner. Advantageously, the temperature dependence of the membrane excitation frequency and / or the temperature dependence of the detection frequency range, respectively, can be compensated.

[0034] The step of controlling the membrane excitation frequency and / or detection frequency is preferably part of a calibration process of the ultrasonic sensor, which is performed before using the ultrasonic sensor in its operational process.

[0035] The membrane excitation frequency may be the frequency at which the exciter element excites the membrane to transmit an ultrasonic signal.

[0036] Controlling the membrane excitation frequency corresponds to controlling and / or changing the excitation frequency at which the exciter elements excite the membrane. The membrane excitation frequency is preferably controlled such that the sensitivity of the ultrasonic sensor in the transmission direction is maximized for the current membrane temperature. In particular, the membrane excitation frequency is modified to correspond to the excitation frequency at which the first frequency response is highest for the current temperature. This improves, in particular optimizes, the operation of the ultrasonic sensor in the transmission direction.

[0037] The detection frequency range may be the range in which the ultrasonic sensor is currently set to detect the received echo signal. In particular, the exciter element may convert the signal received at the membrane into an electrical signal. The exciter element may include a filter that selects only signals in a particular detection frequency range.

[0038] Controlling the detection frequency range may correspond to controlling and / or changing the detection frequency range in which the exciter element is currently detecting a signal. The detection frequency range is preferably controlled such that the sensitivity of the ultrasonic sensor is maximized in the reception direction for the current membrane temperature. In particular, the detection frequency range is modified to include and / or coincide with the excitation frequency at which the second frequency response is highest for the determined current temperature. This improves, in particular optimizes, the operation of the ultrasonic sensor in the reception direction.

[0039] According to another embodiment, the step of determining the determination sensitivity includes a step of calculating an integral of the difference between the first frequency response at the current membrane temperature and the second frequency response at the current membrane temperature multiplied by a frequency dependent weighting factor, the integral being performed over a frequency bandwidth of interest.

[0040] In other words, the sensitivity is calculated by performing the following integral: ∫[FR1(f)-FR2(f)]*h(f)df, where f is the frequency, FR1(f) is the frequency-dependent first frequency response, FR2(f) is the frequency-dependent second frequency response, and h(f) is a frequency-dependent weighting factor. The weighting factor is pre-calculated for a bandwidth of interest. For example, the bandwidth of interest corresponds to a low chirp (44-50 kHz) or a high chirp (52-58 kHz) of the ultrasonic sensor. The weighting factor may be different for different bandwidths of interest.

[0041] According to another embodiment, the first frequency response of the ultrasonic sensor is a first frequency response of the ultrasonic sensor in a transmit direction for a given signal path; the second frequency response of the ultrasonic sensor is a second frequency response of the ultrasonic sensor in a receive direction for the given signal path; Determining the sensitivity of the ultrasonic sensor corresponds to determining the sensitivity of the predetermined signal path.

[0042] In particular, one signal path corresponds to a path from a transmitter to a receiver (between a transmitter and a receiver within the same ultrasonic sensor or from different ultrasonic sensors). A membrane that transmits an ultrasonic signal may form a transmitter. A membrane that receives an ultrasonic signal may form a receiver.

[0043] According to another embodiment, the method further comprises: The method further includes a step of experimentally determining the calibration data by measuring the first frequency response of the ultrasonic sensor in a transmit direction while varying the membrane excitation frequency, and performing these measurements at different membrane temperatures, and / or by measuring the second frequency response of the ultrasonic sensor in a receive direction while varying the membrane vibration frequency, and performing these measurements at different membrane temperatures.

[0044] To determine the frequency response in the transmission direction, a measurement microphone can be used, which is placed at a predetermined distance from the ultrasonic sensor. The microphone can detect the intensity of the ultrasonic signal emitted by the membrane in the transmission direction. The microphone detects the ultrasonic signal intensity. During this, the excitation frequency of the membrane is changed, in particular continuously or stepwise, over a predetermined frequency range. Such a frequency sweep or change can be repeated at different temperatures, for example using a climate chamber. The ultrasonic signal intensity detected at different frequencies and temperatures can correspond to a first frequency response or can be used to determine the first frequency response.

[0045] To determine the frequency response in the receiving direction, a loudspeaker can be used, which is located at a predetermined distance from the ultrasonic sensor. The loudspeaker can emit a reference ultrasonic signal simulating an echo, which is received at the membrane in the receiving direction. The exciter element detects the ultrasonic signal intensity detected at the membrane. Meanwhile, the frequency of the reference ultrasonic signal emitted by the loudspeaker is changed, in particular continuously or stepwise, over a predetermined frequency range. Such a frequency sweep can be repeated at different temperatures, for example using a climate chamber. The ultrasonic intensity detected at different frequencies and temperatures can correspond to a second frequency response or can be used to determine the second frequency response.

[0046] According to a further embodiment, the membrane excitation frequency and / or the membrane vibration frequency is varied in the step of experimentally determining the calibration data between 10 kHz and 100 kHz, in particular between 40 and 70 kHz, in particular between 42 and 62 kHz.

[0047] The membrane excitation frequency and / or membrane vibration frequency may be varied in a continuous manner, in particular by performing a frequency sweep. Alternatively, the frequency response may be measured only for discrete values ​​of the membrane excitation frequency and / or membrane vibration frequency, for example in increments of 1, 2 or 5 kHz. The calibration data may include information on the first and / or second frequency responses for various membrane excitation frequencies and / or membrane vibration frequencies, in particular between 40-70 kHz, more particularly between 42-62 kHz.

[0048] According to a further embodiment, the calibration data comprises information regarding the first frequency response and / or the second frequency response for various temperatures, in particular between -40°C and 90°C or between -30°C and 80°C in increments of 5°C or 10°C.

[0049] In the step of experimentally determining the calibration data, the frequency response measurements described above may be performed for different temperatures in the ranges described above at the above-mentioned increments.

[0050] According to a further embodiment, the steps of determining the current temperature of the membrane and of controlling the current supplied to the exciter element, the gain of the ultrasonic sensor, the membrane excitation frequency and / or the detection frequency range are performed multiple times during an operating phase of the ultrasonic sensor, in particular of the same ultrasonic sensor.

[0051] An operational phase may be a period during which the ultrasonic sensor is used to determine the distance to an object without being specifically blocked. In particular, the ultrasonic sensor may be recalibrated according to changes in membrane temperature to maintain good sensor sensitivity. The same calibration data may be used for each calibration, thus reducing the calibration effort.

[0052] According to a further embodiment, the steps of determining the current temperature of the membrane and of controlling the current supplied to the exciter element, the gain of the ultrasonic sensor, the membrane excitation frequency and / or the detection frequency range are performed at regular time intervals during the operation phase of the ultrasonic sensor, in particular every 1 minute, every 2 minutes, every 5 minutes or every 10 minutes.

[0053] These may be performed twice an hour, every hour, etc. Performing the steps of determining the current temperature of the membrane and controlling the current supplied to the exciter element, the gain of the ultrasonic sensor, the membrane excitation frequency and / or the detection frequency range at regular time intervals is advantageous in that the calibration of the ultrasonic sensor can be adjusted as the current temperature changes, thereby maintaining a high sensitivity of the ultrasonic sensor.

[0054] According to a further embodiment, the calibration data is stored in the storage unit as a table.

[0055] Storing the calibration data as a table is convenient because it requires little storage space.

[0056] According to a further embodiment, the first frequency response comprises, for each of the different membrane temperatures, a ratio of a frequency response of the ultrasonic sensor in the transmit direction at a given membrane temperature to a frequency response of the ultrasonic sensor in the transmit direction at room temperature; and / or The second frequency response includes, for each of the different membrane temperatures, a ratio of a frequency response of the ultrasonic sensor in the receive direction at a given membrane temperature to a frequency response of the ultrasonic sensor in the receive direction at room temperature.

[0057] Room temperature may refer to a membrane temperature of 20°C.

[0058] According to a second aspect there is provided a computer program product comprising instructions which, when said program is executed by a computer, cause said computer to perform the method according to the first aspect, or the method according to an embodiment of the first aspect.

[0059] A computer program product, such as a computer program means, may be embodied as a memory card, a USB stick, a CD-ROM, a DVD or as a file downloaded from a server in a network, for example such a file may be provided by transferring the files constituting the computer program product over a wireless communication network.

[0060] According to a third aspect, there is provided an ultrasonic sensor system comprising: an ultrasonic sensor comprising a membrane and an exciter element for exciting said membrane and / or detecting vibrations of said membrane; a storage unit for storing calibration data, the calibration data including information on a first frequency response of the ultrasonic sensor in a transmission direction depending on a membrane excitation frequency at different membrane temperatures and information on a second frequency response of the ultrasonic sensor in a reception direction depending on a membrane vibration frequency at different membrane temperatures; a temperature determining unit for determining a current temperature of the membrane; a sensitivity determination unit for determining a sensitivity (determined sensitivity) of the ultrasonic sensor using the first frequency response at the current membrane temperature and the second frequency response at the current membrane temperature; a control unit for controlling the current supplied to the exciter element and / or the gain of the ultrasonic sensor based on a difference between the determined sensitivity and a pre-stored sensitivity; Equipped with.

[0061] The storage unit, the temperature determination unit, the sensitivity determination unit and / or the control unit may be realized as hardware and / or software. The temperature determination unit, the sensitivity determination unit and / or the control unit may be provided in a single ASIC (Application Specific Integrated Chip). The ultrasonic sensor system may be configured to perform the method according to the first aspect or the method according to an embodiment of the first aspect. The embodiments and features described with reference to the method of the first aspect apply mutatis mutandis to the ultrasonic system according to the third aspect.

[0062] According to a fourth aspect, there is provided a vehicle comprising an ultrasonic sensor system according to the third aspect for determining a distance to an obstacle (or object).

[0063] The embodiments and features described with reference to the ultrasonic sensor system of the third aspect apply mutatis mutandis to the ultrasonic system according to the fourth aspect.

[0064] Further possible embodiments or alternative solutions of the invention also include combinations of features (not explicitly mentioned here) mentioned above or below with respect to the embodiments. Also, the skilled person may add separate or individual aspects and features to the most basic form of the invention.

[0065] Further embodiments, features and advantages of the present invention will become apparent from the following description and dependent claims, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0066] [Figure 1] FIG. 1 shows a vehicle including an ultrasound system. [Diagram 2] FIG. 2 illustrates the ultrasonic sensor system of FIG. [Diagram 3] FIG. 3 shows an experimental determination of the frequency response in the transmission direction. [Figure 4] FIG. 4 shows the ratio of the first frequency response at −40° C. to the first frequency response at room temperature as a function of frequency. [Diagram 5] FIG. 5 shows an example of calibration data including information about the first frequency response. [Figure 6] FIG. 6 shows an experimental determination of the frequency response in the receive direction. [Figure 7] FIG. 7 shows an example of calibration data including information about the second frequency response. [Figure 8] FIG. 8 illustrates a method for operating an ultrasonic sensor according to a first embodiment. [Figure 9]FIG. 9 shows an example of a table for adjusting the current supplied to the exciter element and / or the gain of the ultrasonic sensor. [Figure 10] FIG. 10 illustrates a method for operating an ultrasonic sensor according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0067] In the drawings, unless otherwise stated, like reference numbers refer to like or functionally equivalent elements.

[0068] FIG. 1 shows a vehicle 100 including an ultrasonic sensor system 1. The vehicle 100 is a car. In the orientation of FIG. 1, the ultrasonic sensor system 1 is located on the right side of the vehicle 100. The ultrasonic sensor system 1 is configured to determine the distance to an obstacle or object on the right side of the vehicle 100. Knowing the distance to such an obstacle or object is particularly useful for assisting the driver when parking and / or when the vehicle 100 is driving partially or fully autonomously.

[0069] The ultrasonic sensor system 1 is shown in more detail in Figure 2. The ultrasonic sensor system 1 includes a housing 15 constructed from a plastic material. On one side of the ultrasonic sensor system 1 (the lower side in the orientation of Figure 2), the housing 15 includes an opening 17 in which an ultrasonic membrane 3 is placed. The membrane 3 is configured to transmit and receive ultrasonic signals.

[0070] The membrane 3 has an exciter element 4, which is a piezo element, connected thereto. The exciter element 4 is configured to receive an electrical signal having a certain current and to mechanically excite the membrane 3 in response. Furthermore, the exciter element 4 is configured to receive vibrations from the membrane 3 and convert them into an electrical signal. The membrane 3 and the exciter element 4 together form the ultrasonic sensor 2.

[0071] The ultrasonic sensor 2 uses a dual-chirp wideband signal. To ensure that the signal amplitude is constant with temperature of the membrane 3, the behavior of the transfer function with respect to temperature needs to be properly modelled, as will be explained below.

[0072] In the interior 5 of the ultrasonic sensor system 1, the ultrasonic sensor system 1 further includes a printed circuit board (PCB) 7. On the PCB 7, a control unit 8, a storage unit 9, a temperature determination unit 11 and a sensitivity determination unit 18 are arranged. The units 8, 9, 11, 18 may be embedded in an ASIC. The functions of these units 8, 9, 11, 18 are explained below. The PCB 7 connects to the exciter element 4 via a connection element 6 and transmits and / or receives electrical signals therefrom. The connection element 6 is a wire in the example of FIG. 2.

[0073] The storage unit 9 is configured to store calibration data. The calibration data indicates how the ultrasonic sensor 2 responds to different membrane excitation frequencies at different temperatures in the transmission direction SD and how the ultrasonic sensor 2 responds to different membrane excitation frequencies at different temperatures in the reception direction RD. The content of the calibration data and its experimental determination will be explained with reference to Figs. 3 to 7.

[0074] 3 shows a mechanism for experimentally determining the frequency response of an ultrasonic sensor in the transmission direction SD. This experimental determination is used to determine a first frequency response FR1, which is included in the calibration data, as described below. The first frequency response FR1 is frequency dependent.

[0075] As shown in Fig. 3, a microphone 16 is placed at a distance d in front of the ultrasonic sensor system 1. The microphone 16 is oriented such that it is in the propagation path of the ultrasonic signal 10 emitted by the membrane 3 along the transmission direction SD. The arrangement of Fig. 3 is placed in a climate chamber (not shown) for varying the temperature of the membrane 3.

[0076] The microphone 16 is used to determine the intensity (e.g. in decibels) of the ultrasonic signal 10 reaching the microphone 16. The excitation frequency of the membrane 3 is varied by varying the electrical signal to the exciter element 4. In other words, the frequency response FR of the ultrasonic sensor 2 in the transmission direction SD is measured as a function of temperature and frequency. This measurement is repeated individually for each ultrasonic sensor 2 at different temperatures (in this example between -40°C and 80°C in increments of 20°C). In the example of Figure 3, the frequency is varied continuously between 42 and 62 kHz.

[0077] This results in curves as shown in FIG. 4 for each discrete temperature value. FIG. 4 shows the curve for −40° C. In particular, FIG. 4 shows how the ratio (shown on the vertical axis, dimensionless) of the first frequency response FR1 at −40° C. (FR1(−40° C.)) to the first frequency response FR1 of the membrane 3 at room temperature RT (FR1(RT)) varies as the excitation frequency of the membrane 3 (shown on the horizontal axis, expressed in kHz) varies. “Room temperature” RT here refers to a membrane temperature of 20° C.

[0078] In Figure 4, different curves represent four different measurements of FR1(-40°C) / FR1(RT) as a function of membrane excitation frequency. The dashed line indicates the median value 14 of the curves.

[0079] Figure 5 shows such a median value 14 of FR1(T) / FR1(RT) for each of the discrete temperatures at which measurements have been performed. The graph shown in Figure 5 shows the first frequency response FR1 of the ultrasonic sensor 2 in the transmission direction SD and is stored in the storage unit 9 as part of the calibration data.

[0080] A similar experimental determination can be carried out to determine the second frequency response FR2 in the receiving direction RD. For this purpose, the experimental setup of Fig. 6 is used. As shown in Fig. 6, a loudspeaker 12 is placed at a distance d (distance d can be equal to or different from the distance d of Fig. 3) in front of the ultrasonic sensor system 1. The loudspeaker 12 is oriented such that an ultrasonic reference signal 13 emitted by the loudspeaker 12 along the receiving direction RD reaches the membrane 3 of the ultrasonic sensor system 1. The setup of Fig. 3 is placed in a climate chamber (not shown) for changing the temperature of the membrane 3.

[0081] The electrical signal emitted by the exciter element 4 in response to the vibration of the membrane 3 upon reception of the reference signal 13 is analyzed to determine the intensity (e.g. in decibels) of the ultrasonic signal 13 reaching the exciter element 4, while the membrane vibration frequency is varied by varying the frequency of the reference signal 13 by means of the loudspeaker 12. In other words, the second frequency response FR2 of the ultrasonic sensor 2 in the receiving direction RD is measured as a function of temperature and frequency. This measurement is repeated for each individual ultrasonic sensor at different temperatures (in this example between -40°C and 80°C in increments of 20°C). In the example of Fig. 6, the frequency is varied continuously between 42 and 62 kHz.

[0082] Similar to Figures 4 and 5, the experimental result of Figure 6 is the second frequency response FR2 shown in Figure 7, which is stored in the storage unit 9 as part of the calibration data. In particular, Figure 7 shows the median ratio 14 between the second frequency response FR2 of the sensor 2 at one of the discrete temperatures in the receiving direction (FR2(T)) and the second frequency response FR2 at room temperature (20°C) in the receiving direction (FR2(RT)) as a function of frequency.

[0083] The experimental determination of the first and second frequency responses FR1 and FR2 is performed only once for each ultrasonic sensor 2 in order to determine its own calibration data. The stored calibration data can be directly used at any time to improve the sensitivity of the ultrasonic sensor 2. The calibration of the ultrasonic sensor 2 using the ultrasonic sensor system 1 is described below with reference to FIG.

[0084] 8, calibration data is obtained from the storage unit 9. Specifically, the control unit 8 receives the calibration data including the graphs of FIGS.

[0085] 8, which may be performed after step S1, during step 1, or before step S1, the temperature determination unit 11 determines the current temperature of the membrane 3. This may be done mathematically and / or using a temperature sensor. The determined temperature of the membrane 3 is then transmitted to the control unit 8.

[0086] In step 3, the sensitivity determination unit 18 calculates the determined sensitivity of the ultrasonic sensor 2 using the first frequency response FR1 at the current membrane temperature and the second frequency response FR2 at the current membrane temperature. In particular, the sensitivity determination unit 18 calculates an integral of the difference between the first frequency response FR1 at the current membrane temperature and the second frequency response FR2 at the current membrane temperature multiplied by a weighting factor. The integration is performed over a frequency bandwidth of interest, for example between 44-50 kHz (low channel chirp).

[0087] In other words, the sensitivity determination unit 18 uses the calibration data stored in Figures 5 and 7 at the current membrane temperature determined in step S2 to calculate the determined sensitivity as ∫(FR1(f)-FR2(f))*h(f)df, where f is frequency, FR1(f) and FR2(f) correspond to and explicitly show the frequency dependence of the first and second frequency responses FR1 and FR2, respectively, and h(f) is a weighting factor, which is pre-calculated for the bandwidth of interest.

[0088] In step S4, the control unit 8 calculates the sensitivity to be 900 Hz. The control unit 8 then adjusts the current supplied to the exciter element 4 and / or the gain of the ultrasonic sensor 2 to compensate for the difference between the sensitivity determined from step S3 and the pre-stored sensitivity. In other words, the control unit 8 adjusts the current supplied to the exciter element 4 and / or the gain of the ultrasonic sensor 2 to reduce the difference between the sensitivity of the ultrasonic sensor 2 and the pre-stored sensitivity.

[0089] If the sensitivity determined from step S3 is lower than the pre-stored sensitivity, the control unit 8 increases the current to the exciter element 4, resulting in an increase in sensitivity. Similarly, if the sensitivity determined from step S3 is higher than the pre-stored sensitivity, the control unit 8 decreases the current to the exciter element 4, resulting in a decrease in sensitivity.

[0090] To tune the sensitivity more precisely, the control unit 8 adjusts (increases or decreases) the gain of each signal path of the ultrasonic sensor 2 individually by directly changing the settings of the gain adjustment units provided in the control unit 8.

[0091] In this manner, the sensitivity of the ultrasonic sensor 2 is adjusted so that the difference between the sensitivity of the ultrasonic sensor 2 and the pre-stored sensitivity is reduced, preferably until the sensitivity of the ultrasonic sensor 2 and the pre-stored sensitivity are equal to each other.

[0092] To adjust the current and / or gain, the control unit 8 may refer to a table stored in the memory unit 9, shown in Figure 9. The table in Figure 9 indicates the amount of correction to the current and / or gain that the control unit 8 should implement depending on the sensitivity determined from step S3. In the example of Figure 9, the target sensitivity (pre-stored sensitivity) is 1000Hz (1kHz).

[0093] The table in FIG. 9 indicates, for each determined sensitivity determined from step S3 (left column of FIG. 9), the amount of current and / or gain correction that the control unit 8 should implement to achieve the target sensitivity.

[0094] The table of FIG. 9 has been previously determined by observing how modifying the current supplied to the exciter element 4 and / or modifying the gain modifies the first frequency response FR1 and the second frequency response FR2, and thus the sensitivity of the ultrasonic sensor 2.

[0095] In the above example where the control unit 8 has determined in step S3 that the sensitivity is 900 Hz, it will adjust the current by increasing it to 0 (zero) mA and adjust the gain by adding up to 1 dB to achieve the target sensitivity of 1000 Hz.

[0096] 10 shows a further embodiment of a method for operating the ultrasonic sensor 2 which can be implemented by the ultrasonic sensor 2. Steps S1 to S4 are identical to steps S1 to S4 described with reference to FIG.

[0097] In step S5, the control unit 8 controls the ultrasonic sensor 2 using the membrane temperature obtained from the temperature determination unit 11 and the calibration data received from the storage unit 9. In detail, the control unit 8 controls the excitation frequency of the membrane 3 such that the excitation frequency of the membrane 3 corresponds to the frequency at which the first frequency response FR1 (FIG. 5) is highest at the determined temperature of the membrane 3. This achieves a high sensitivity of the ultrasonic sensor 2 in the transmission direction SD.

[0098] Furthermore, the control unit 8 controls the detection frequency range of the ultrasonic device 2 such that it corresponds to or includes the frequency at which the second frequency response FR2 (FIG. 5) is highest at the determined temperature of the membrane 3. This achieves a high sensitivity of the ultrasonic sensor 2 in the receiving direction RD.

[0099] Although the present invention has been described according to a preferred embodiment, it is clear to a person skilled in the art that modifications are possible in all embodiments. For example, instead of storing the first and second frequency responses FR1 and FR2 as graphs, they may be stored in the calibration data as a table, for example including only the highest frequency response for each temperature. The experimental determination of the first and second frequency responses FR1 and FR2 may be performed using more or less different ultrasonic sensors 2 over different frequency and / or temperature ranges and / or at different frequency and / or temperature increments.

[0100] 1 Ultrasonic sensor system 2. Ultrasonic Sensor 3 membrane 4 Exciter element 5 Inside 6 Connection elements 7 Printed Circuit Board 8. Control Unit 9. Storage Unit 10 Ultrasonic Signal 11 Temperature determination unit 12. Loudspeaker 13 Reference Signal 14 Median 15 Housing 16 Microphones 17 Aperture 18 Sensitivity Determination Unit 100 vehicles d Distance FR1 First Frequency Response FR2 Second Frequency Response RD Receive direction RT room temperature SD receive direction S1~S5 Method steps

Claims

1. A method for operating an ultrasonic sensor (2), said ultrasonic sensor (2) comprising a membrane (3) and an exciter element (4) for exciting said membrane (3) and / or for detecting vibrations of said membrane (3), The method comprises: - a step (S1) of obtaining calibration data from a storage unit (9) for storing said calibration data, said calibration data comprising information on a first frequency response (FR1) of said ultrasonic sensor (2) in a transmission direction (SD) depending on a membrane excitation frequency at different membrane temperatures and information on a second frequency response (FR2) of said ultrasonic sensor (2) in a reception direction (RD) depending on a membrane vibration frequency at different membrane temperatures; A step (S2) of determining a current membrane temperature; determining a sensitivity of the ultrasonic sensor (2) using the first frequency response (FR1) at the current membrane temperature and the second frequency response (FR2) at the current membrane temperature (S3); A step (S4) of controlling the current supplied to the exciter element (4) and / or the gain of the ultrasonic sensor (2) based on the difference between the determined sensitivity and a pre-stored sensitivity; Equipped with The step (S3) of determining the determined sensitivity includes a step of calculating an integral of a difference between the first frequency response at the current membrane temperature and the second frequency response at the current membrane temperature multiplied by a frequency-dependent weighting factor, the integral being performed over a frequency bandwidth of interest. method.

2. the current supplied to the exciter element (4) and / or the gain of the ultrasonic sensor (2) are controlled to compensate for the difference between the determined sensitivity and a pre-stored sensitivity. The method of claim 1.

3. and controlling (S5) the membrane excitation frequency and / or the detection frequency range in which the ultrasonic sensor (2) is set to detect the vibrations of the membrane (3) based on the acquired calibration data and the determined current membrane temperature, The method according to claim 1 or 2.

4. the first frequency response (FR1) of the ultrasonic sensor (2) is a first frequency response of the ultrasonic sensor (2) in a transmission direction (SD) for a predetermined signal path; the second frequency response (FR2) of the ultrasonic sensor (2) is a second frequency response of the ultrasonic sensor (2) in a receiving direction (RD) for the predetermined signal path; The step (S3) of determining the sensitivity of the ultrasonic sensor (2) corresponds to a step of determining the sensitivity of the predetermined signal path. The method according to claim 1 or 2.

5. determining the calibration data experimentally by measuring the first frequency response (FR1) of the ultrasonic sensor (2) in a transmission direction (SD) while varying the membrane excitation frequency and performing these measurements at different membrane temperatures and / or by measuring the second frequency response (FR2) of the ultrasonic sensor (2) in a reception direction (RD) while varying the membrane vibration frequency and performing these measurements at different membrane temperatures, The method according to claim 1 or 2.

6. In the step of experimentally determining the calibration data, the membrane excitation frequency and / or the membrane vibration frequency is varied between 40 and 70 kHz. The method according to claim 5.

7. the calibration data includes information regarding the first frequency response (FR1) and / or the second frequency response (FR2) for different temperatures between -40°C and 90°C; The method according to claim 1 or 2.

8. the steps of determining a current membrane temperature and controlling the current output by the exciter element (4), the gain of the ultrasonic sensor, the membrane excitation frequency and / or the detection frequency range are performed multiple times during an operational phase of the ultrasonic sensor, The method according to claim 3.

9. the steps of determining the membrane temperature and controlling the current output by the exciter element (4), the gain of the ultrasound, the membrane excitation frequency and / or the detection frequency range are performed at regular time intervals during the operating phase of the ultrasonic sensor, The method according to claim 8.

10. The calibration data is stored in the storage unit (9) as a table. The method according to claim 1 or 2.

11. The first frequency response (FR1) comprises, for each of the different membrane temperatures, a ratio of a frequency response (FR) of the ultrasonic sensor (2) in the transmission direction (SD) at a given membrane temperature to a frequency response (FR) of the ultrasonic sensor (2) in the transmission direction (SD) at room temperature; and / or The second frequency response (FR2) comprises, for each of the different membrane temperatures, a ratio of a frequency response (FR) of the ultrasonic sensor (2) in the receiving direction (RD) at a given membrane temperature to a frequency response (FR) of the ultrasonic sensor (2) in the receiving direction (RD) at room temperature. The method according to claim 1 or 2.

12. A computer program product comprising instructions which, when said program is executed by a computer, cause said computer to carry out the method according to one of claims 1 or 2.

13. an ultrasonic sensor (2) comprising a membrane (3) and an exciter element (4) for exciting said membrane (3) and / or for detecting vibrations of said membrane (3); a storage unit (9) for storing calibration data, the calibration data including information on a first frequency response (FR1) of the ultrasonic sensor (2) in a transmission direction (SD) depending on a membrane excitation frequency at different membrane temperatures and information on a second frequency response (FR2) of the ultrasonic sensor (2) in a reception direction (RD) depending on a membrane vibration frequency at different membrane temperatures; a temperature determination unit (11) for determining a current membrane temperature; a sensitivity determination unit (18) for determining a sensitivity of the ultrasonic sensor using the first frequency response (FR1) at the current membrane temperature and the second frequency response (FR2) at the current membrane temperature; a control unit (8) for controlling the current supplied to the exciter element (4) and / or the gain of the ultrasonic sensor (2) based on the difference between the determined sensitivity and a pre-stored sensitivity; Equipped with the sensitivity determination unit (18) calculates an integral of a difference between the first frequency response at the current membrane temperature and the second frequency response at the current membrane temperature multiplied by a frequency dependent weighting factor, the integral being performed over a frequency bandwidth of interest; Ultrasonic sensor system (1).

14. A vehicle (100) comprising an ultrasonic sensor system (1) according to claim 13 for determining the distance to an obstacle.

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