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

Abstract

Method for characterizing objects in the vicinity of a motorized vehicle - Patents.com The invention provides a method (100) for characterizing an object in the vicinity of a motorized vehicle using an assistant system for a motorized vehicle, in which the motorized vehicle moves relative to the object and an ultrasonic signal is emitted by an ultrasonic sensor of the assistant system, whereby echoes of the ultrasonic signal reflected from the object are received, and by means of a control means, the amplitude of each of the received echoes is determined, and a height classification of the object is determined based on these amplitudes. In the invention, a respective amplitude correction factor is determined for each of the received echoes, taking into account the azimuth angle of the object relative to the ultrasonic sensor, and each amplitude is corrected with respect to the corresponding amplitude correction factor, and the height classification of the object is determined based on a first amplitude change determined by comparing a first corrected amplitude of a first echo with a second corrected amplitude of a second echo received after the first echo. The invention also provides an assistant system comprising an ultrasonic sensor and a control means designed to implement the method (100).

Description

[Technical Field]

[0001] The present invention relates to a method for detecting an object when a motor vehicle moves relative to the object and an ultrasonic signal is generated by an ultrasonic sensor in an assistance system. Call The present invention relates to a method for characterizing an object in the vicinity of a motor vehicle using an assistance system for the motor vehicle, the method comprising receiving echoes of ultrasonic signals reflected by the object and controlling the echoes of the ultrasonic signals. Device The amplitude of each received echo is calculated using decision vinegar R but the height of the object classification is based on the amplitude decision The present invention further relates to an ultrasonic sensor and a control system designed to implement the method. Device The present invention also relates to an assistant system comprising: [Background technology]

[0002] Ultrasonic sensors generally use ultrasonic signals that propagate through the air at the speed of sound, approximately 340 meters per second. Call The ultrasonic sensor typically includes a transmitting means for transmitting ultrasonic signals. The membrane of the ultrasonic sensor is mechanically vibrated by the corresponding transducer element. The ultrasonic signals are reflected as echoes by surrounding objects and detected by the receiving means of the ultrasonic sensor. The difference in travel time between the time of transmission and the time of reception is used to calculate the distance to the object, i.e., the distance, taking into account the propagation speed of the ultrasonic signal. decision vinegar R In this case, the amplitude of the reflected ultrasonic signal, or , the amplitude of the echo is decision vinegar R It is possible.

[0003] Ultrasonic sensors are typically used for vehicle applications to capture the surrounding area within a range of approximately 7 meters. or Automated driving maneuvers, especially in parking applications, such as parking distance measurement, parking space search, orUltrasonic sensors play a major role in parking. During this process, a motor vehicle typically moves relative to an object, and during this movement, a measurement cycle is performed at predetermined times. During each measurement cycle, an ultrasonic signal is emitted from the ultrasonic sensor. Call In the prior art, methods and corresponding assistance systems are already known that provide the driver with various information about the surroundings of the motor vehicle by means of ultrasonic sensors, and thus assist the driver when driving the motor vehicle, in particular when locating a parking space and parking the motor vehicle in said parking space. For example, methods and corresponding assistance systems are known that provide a parking space locating function and can determine whether a parking space is present in the immediate surroundings of the motor vehicle, or , indicating to the driver whether an existing parking space is large enough for the motorized vehicle to park in. R There are assistance systems that can accurately determine the location and dimensions of parking spaces. decision vinegar R To do this, they need information about objects in the vicinity of a motorized vehicle, such as parked vehicles, curbs, walls and fences.

[0004] In addition to the distance of the motor vehicle to an object, the height of the object is generally also important. or This is an important factor in determining whether an obstacle can be overcome. In particular, when the motorized vehicle is driven at least semi-autonomously based on ultrasonic sensor measurements, it is necessary to estimate the height of the captured object. decision vinegar R This is what is desired.

[0005] Height decision is a type of one-dimensional (1D) ultrasonic sensor commonly used in the automotive industry, i.e., a sensor that measures distance. decision vinegar RWhen using ultrasonic sensors for measuring the height of an object, it is very difficult due to physical limitations. When using such ultrasonic sensors, the height of an object cannot be measured directly. decision vinegar R For example, a method of estimating height based on 2D images using an additional camera is required. also However, a method of estimating height using multiple sensors and applying triangulation is used. or Methods based on multiple sensors do not take advantage of the cost and robustness advantages of 1D ultrasonic sensors.

[0006] A method for an assistant system of the type mentioned at the outset is known, for example, from DE 10 2004 047 479 A1. kind To achieve this, when a motor vehicle passes by, an ultrasonic sensor of the motor vehicle detects an object beside the motor vehicle by transmitting an ultrasonic signal. Call The ultrasonic signal reflected by the object is received as an echo. Based on the amplitude of the received echo, the height of the object is calculated. classification but, decision will be done. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] DE 10 2004 047 479 A1 Summary of the Invention [Problem to be solved by the invention]

[0008] The problem to be solved by the present invention is therefore to provide an alternative method for characterizing objects in the vicinity of a motor vehicle, as well as a corresponding method for reliably determining the height of the object at the lowest possible cost. kind The goal 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 15. Expedient embodiments and developments of the invention are set out in the dependent claims and in the following description.

[0010] The method for characterizing an object in the vicinity of a motor vehicle using an assistance system for a motor vehicle according to the present invention comprises the steps of: moving the motor vehicle relative to the object; and detecting an ultrasonic signal by an ultrasonic sensor, particularly preferably a 1D ultrasonic sensor, of the assistance system. Call At this time, the echo of the ultrasonic signal reflected by the object is received, but the control Device , the amplitude of each of the received echoes is calculated as decision Based on these amplitudes, the height of the object is calculated. classification but, decision will be done.

[0011] In the present invention, for the received echoes, each amplitude correction factor that takes into account the azimuth angle of the object relative to the ultrasonic sensor is decision The amplitude of each is corrected based on the corresponding amplitude correction factor, but the amplitude of each is corrected based on the height of the object. kind is calculated by comparing the first corrected amplitude of the first echo with the second corrected amplitude of the second echo received after the first echo. decision Based on the first amplitude change, decision will be done.

[0012] In this case, the present invention firstly provides a low-cost method for determining the height of an object by using sensors on the vehicle that are already installed. kind Furthermore, it is possible to achieve particularly low-cost and robust analysis without the need for computationally expensive and error-prone fusion with sensor data from other sensors, more precisely other types of sensors, especially cameras. kindThe present invention is based on the idea that the radiation pattern of an ultrasonic sensor is essentially a function of elevation and azimuth angles, and that the power of an ultrasonic signal emitted from the ultrasonic sensor to an object within the capture area depends on the elevation angle and the azimuth angle of the object relative to the ultrasonic sensor. For an object located at a height lower than the mounting height of the ultrasonic sensor on a motor vehicle, i.e., particularly having such a height, and particularly when the distance between the object and the motor vehicle, or more precisely the ultrasonic sensor, is within a certain distance, the elevation angle and the power, or in other words the amplitude of the reflected ultrasonic signal, will be higher than the mounting height of the motor vehicle. or The distance between the ultrasonic sensor and the object depends on the object. In particular, this fact is important for the height of the object. classification of decision vinegar R It can be used for

[0013] That is, in the present invention, the height of the object classification is based on sensor data from an ultrasonic sensor, preferably a 1D ultrasonic sensor, that is moving relative to the object. decision In addition, for the received echoes, respective amplitude correction factors are added which take into account the azimuth angle of the object relative to the ultrasonic sensor. decision The amplitude of each is corrected based on a corresponding amplitude correction factor, and the amplitude of each is corrected based on the height of the object. kind is calculated by comparing the first corrected amplitude of the first echo with the second corrected amplitude of the second echo received after the first echo. decision Based on the first amplitude change, decision will be done.

[0014] The present invention provides a low-cost, reliable method for determining the height of an object, even if the object's azimuth angle relative to the ultrasonic sensor changes as the vehicle moves. kind The present invention has the advantage of providing a method that enables

[0015] The object to be characterized can be an object that protrudes from the ground, e.g., a road surface or other earth surface, and extends essentially vertically to the ground. However, it can also be an object that does not protrude from the ground, e.g., a fence rail, also can also be an object that does not extend vertically to the ground, such as a lamp, for example.

[0016] The ultrasonic sensor, in particular the 1D ultrasonic sensor, can be located, for example, in the bumper of a motor vehicle. Alternatively, the ultrasonic sensor, in particular the 1D ultrasonic sensor, can be located, for example, in a body component, such as a door of a motor vehicle. or It can also be placed behind it.

[0017] It is also possible to use only one ultrasonic sensor, particularly preferably one 1D ultrasonic sensor, or alternatively, to use several ultrasonic sensors, particularly preferably several 1D ultrasonic sensors.

[0018] Object height classification As the above, two are particularly preferred. classification The terms "high" and "low" are used, where an object is considered "high" if it is at least above the mounting height of the ultrasonic sensor, i.e., in particular if the object has a height that corresponds at least to the mounting height of the ultrasonic sensor. kind On the other hand, an object is considered "low" if it is below the mounting height of the ultrasonic sensor, i.e., in particular if the object has a height that is lower than the mounting height of the ultrasonic sensor. kind will be done.

[0019] The azimuth angle gives the position of the object relative to the ultrasonic sensor in the horizontal direction. Correction of the amplitudes of the received echoes with the respective amplitude correction factors corrects for the effect of a change in the object's position relative to the ultrasonic sensor in the horizontal direction.

[0020] The amplitude correction is based on a corresponding amplitude correction factor, preferably by multiplying the amplitude value by the corresponding amplitude correction factor. also is particularly preferably implemented by scaling the amplitude values, but multiplication also The result of the division is the corrected amplitude.

[0021] In a preferred embodiment, the amplitude correction factor depends on the horizontal radiation pattern of the ultrasonic sensor. In other words, the amplitude correction factor of the received echo is determined based on the azimuth angle of the object relative to the ultrasonic sensor and the horizontal radiation pattern of the ultrasonic sensor. decision The radiation pattern represents the power of the ultrasonic sensor radiated from the ultrasonic sensor for each azimuth angle. That is, the radiation pattern defines the power value of the ultrasonic sensor at each azimuth angle. For each measured azimuth angle, the output value of the corresponding ultrasonic signal at that azimuth angle is read out from the radiation pattern, and then this is used as an amplitude correction factor: also is the amplitude correction factor for the received echo decision vinegar R It is used for this purpose.

[0022] In a further preferred embodiment, the azimuth angle is determined by trilateration using multiple echoes, i.e. echoes received in time before the first echo and before the second echo, and / or also is based on signals from surrounding sensors other than the vehicle's ultrasonic sensors. decision will be done. In this case, the surrounding sensors include radar sensors, lidar sensors, and / or also can be configured as a camera.

[0023] In a further preferred embodiment, the first and second echoes are successive in time, particularly preferably successive in time.

[0024] In a further preferred embodiment, the object is in the vicinity of the motor vehicle, preferably within two meters of the ultrasonic sensor of the motor vehicle, and as the motor vehicle approaches the object, the first amplitude change is a decrease in amplitude over time. decision If it is found to be low kind The first amplitude change is an increase in amplitude over time. decision If it is found to be high kind It is said to be low. classification is particularly located at a position lower than the mounting height of the ultrasonic sensor, i.e., particularly for objects having a height lower than the mounting height of the ultrasonic sensor. decision Such an object is, for example, a curb. classification is particularly at least at the mounting height of the ultrasonic sensor, i.e., particularly for an object having a height at least corresponding to the mounting height of the ultrasonic sensor. decision Such objects are, for example, walls, fences, also is another vehicle.

[0025] This means that, at least for objects at the mounting height of the ultrasonic sensor, the vehicle or It is based on the fact that the elevation angle of the ultrasonic sensor does not change as it approaches the object. Therefore, the power, or in other words the reflected ultrasonic signal or The corrected amplitude of the echo depends only on the distance between the object and the ultrasonic sensor. The corrected amplitude of the reflected ultrasonic signal increases when the motor vehicle, or more precisely, the ultrasonic sensor, approaches such an object, i.e., when the distance between the object and the ultrasonic sensor decreases. On the other hand, for an object located below the mounting height of the ultrasonic sensor, the elevation angle changes when the object approaches the distance between the object and the ultrasonic sensor, and the corrected amplitude of the reflected ultrasonic signal increases when the object approaches the distance between the object and the ultrasonic sensor. or As the ultrasonic sensor moves towards the object, the corrected amplitude of the reflected ultrasonic signal continues to decrease. orThe closer the ultrasonic sensor is to such an object, the smaller the corrected amplitude becomes. In fact, the smaller the distance between the object and the ultrasonic sensor, the larger the corrected amplitude itself becomes. However, in this case, as the distance decreases, the smaller the elevation angle becomes, which is a dominant factor, and this causes the overall corrected amplitude of the reflected ultrasonic signal to be smaller.

[0026] In a further preferred embodiment, the height of the object classification is the first amplitude By comparing the change with the second amplitude change decision The second amplitude change is made by dividing a third corrected amplitude of a third echo received after the second echo and the second corrected amplitude of the second echo by: also is calculated by comparing the fourth corrected amplitude of the fourth echo received after the second echo and before the third echo. decision In essence, the two amplitude changes are compared with each other, and the height of the object is calculated. kind The robustness of the device is further improved.

[0027] In this case, in a further preferred embodiment, when the motor vehicle approaches the object, the first amplitude change is an increase in amplitude over time, and the second amplitude change is a decrease in amplitude over time. decision If the object is kind will be done.

[0028] This is based on the fact that for an object, such as a curb, that is below the mounting height of the ultrasonic sensor, i.e., that has a height lower than the mounting height of the ultrasonic sensor, and that is not yet in the vicinity of the motor vehicle, preferably at a distance of more than two meters from the ultrasonic sensor of the motor vehicle, the elevation angle is at least approximately 90°. Thus, the power, in other words the corrected amplitude of the reflected ultrasonic signal, essentially depends only on the distance between the object and the ultrasonic sensor. orThe corrected amplitude of the echo is or , becomes larger when the ultrasonic sensor approaches such an object, i.e., when the distance between the object and the ultrasonic sensor becomes smaller. That is, here, the first amplitude change is obtained as an amplitude increase over time. or , When the ultrasonic sensor approaches the object further, and the object is thus within the close range of the motor vehicle, preferably within a distance of two meters or less to the ultrasonic sensor of the motor vehicle, the elevation angle changes with the approach, but in particular becomes smaller than 90°, and the further approach, or , gradually decreases as the distance decreases. As a result, the corrected amplitude of the reflected ultrasonic signal also gradually decreases as the object approaches further. In fact, the corrected amplitude itself increases as the distance between the object and the ultrasonic sensor decreases. However, in this case, as the distance decreases, the factor of the elevation angle becoming smaller becomes dominant, and as a result, the corrected amplitude of the reflected ultrasonic signal becomes smaller overall. In other words, in this case, the second amplitude change is obtained as an amplitude decrease over time. By comparing the first amplitude change and the second amplitude change, the first amplitude change is an amplitude increase over time, and the second amplitude change is an amplitude decrease over time. decision If the object is kind will be done.

[0029] In a further preferred embodiment, the object is in the vicinity of the motor vehicle, preferably within a distance of two meters from the ultrasonic sensor of the motor vehicle, and when the motor vehicle approaches the object, the object exhibits a first amplitude change and a second amplitude change, respectively, which are amplitude decreases over time. decision and additionally, the second amplitude change is determined to be low if it is greater than the first amplitude change. kind That is, the degree of amplitude reduction is also taken into consideration here.

[0030] This means that for an object, such as a curb, that is below the mounting height of the ultrasonic sensor, i.e., that has a height that is lower than the mounting height of the ultrasonic sensor, and that is in the vicinity of the motor vehicle, preferably at a distance of less than two meters to the ultrasonic sensor of the motor vehicle, the elevation angle is or It is based on the fact that the reflected ultrasonic signal decreases progressively as the ultrasonic sensor moves further towards the object. or The corrected amplitude of the echo also gradually decreases as the object approaches. In fact, the corrected amplitude itself increases as the distance between the object and the ultrasonic sensor decreases. However, as the distance decreases, the factor of the elevation angle becoming smaller becomes dominant, and as a result, the corrected amplitude of the reflected ultrasonic signal decreases overall. In other words, the second amplitude change is obtained as a larger amplitude decrease over time than the amplitude decrease of the first amplitude change, and as a result, the object is perceived as being lower. kind will be done.

[0031] In a further preferred embodiment, the object is in the vicinity of the motor vehicle, preferably within a distance of two meters from the ultrasonic sensor of the motor vehicle, and when the motor vehicle approaches the object, the object exhibits a first amplitude change and a second amplitude change, respectively, which indicate an amplitude increase over time. decision and additionally, the second amplitude change is determined to be high if it is greater than the first amplitude change. kind That is, the degree of amplitude increase is also taken into consideration here.

[0032] This is at least above the mounting height of the ultrasonic sensor, i.e. in particular above a wall, a fence, etc., which has a height at least corresponding to the mounting height of the ultrasonic sensor. also is an object such as a vehicle, and the elevation angle is the same as that of the motor vehicle, even if the object is in the vicinity of the motor vehicle, preferably closer than two meters to the ultrasonic sensor of the motor vehicle. orIt is based on the fact that the ultrasonic sensor does not change while moving towards the object. Therefore, the power, or more precisely the corrected amplitude, of the reflected ultrasonic signal depends only on the distance between the object and the ultrasonic sensor. or The corrected amplitude of the echo is or , becomes larger when the ultrasonic sensor approaches such an object, i.e., when the distance between the object and the ultrasonic sensor becomes smaller. That is, in this case, the second amplitude change is obtained as an amplitude increase over time that is larger than the amplitude increase of the first amplitude change, and as a result, the object is recognized as being tall. kind will be done.

[0033] In a further preferred embodiment, the comparison of the amplitude changes is based on the difference between the amplitude changes and / or also teeth, Amplitude Change It is based on the ratio of

[0034] In a further preferred embodiment, the comparison of the corrected amplitudes is a difference between the corrected amplitudes, and / or also teeth, Corrected Amplitude It is based on the ratio of

[0035] In a further preferred embodiment, if the absolute value of the first amplitude change is greater than a predetermined threshold, the height of the object is additionally determined. classification but decision By doing this, the height of the object classification of decision The reliability of the additional or Alternatively, in some embodiments where a second amplitude change is considered, preferably the object height classification is additional or Alternatively, if the absolute value of the second amplitude change is greater than a predetermined threshold, decision will be done.

[0036] In certain further preferred embodiments, the threshold value is then: Currently speed, and / or the temperature around the motor vehicle, and / or alsois the humidity around the motor vehicle, and / or also is predetermined depending on the mounting height of the ultrasonic sensor on the motor vehicle. Since the temperature around the motor vehicle has a significant effect on the airborne sound attenuation, the temperature can be captured by the corresponding sensor and the threshold can be adapted accordingly, as can the humidity. This allows for a more reliable determination of the height of the object. kind can be achieved.

[0037] In certain further preferred embodiments, the method comprises: assist was done, and / or also semi-automatic and / or also is used in the automated parking process.

[0038] Furthermore, the present invention relates to an ultrasonic sensor and a control Device In this case, the control system also includes an assistant system having the following: Device are designed to be able to carry out the method according to the invention.

[0039] 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.

[0040] Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings. 。 [Brief explanation of the drawings]

[0041] [Figure 1] Figure 1 is a radiation chart showing the radiation pattern of an ultrasonic sensor as a function of azimuth angle; [Figure 2] Figure 2 is a radiation chart showing the radiation pattern of an ultrasonic sensor as a function of elevation angle; [Figure 3] FIG. 3 is a graph showing the elevation angle as a function of the distance from an object of the ultrasonic sensor according to FIG. 2; and [Figure 4] FIG. 4 is a flow chart of a method for characterizing objects in the vicinity of a motorized vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0042] Corresponding parts are always labeled with the same reference numerals in all figures.

[0043] 1 shows a radiation chart illustrating the radiation pattern 1 of an ultrasonic sensor as a function of the azimuth angle, where the radiation pattern 1 of the ultrasonic sensor is a function of the azimuth angle, i.e. the power of the ultrasonic signal emitted by the ultrasonic sensor from an object within its detection range, i.e. the power, in other words the amplitude, of the ultrasonic signal or echo reflected by the object, depends on the azimuth angle.

[0044] For example, if an object is at an azimuth angle of 30° to the ultrasonic sensor, the ultrasonic signal reflected from the object, or ,The power of the echo, in other words its amplitude, will be greater than if the object were at an azimuth angle of 60° to the ultrasonic sensor.

[0045] 2 shows a radiation chart illustrating the radiation pattern 2 of an ultrasonic sensor as a function of the elevation angle. As can be seen, the radiation pattern 2 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.

[0046] If an object is at an elevation angle of 90°, i.e., at least at the mounting height of the ultrasonic sensor on the motor vehicle, the elevation angle will not change as the motor vehicle, or more precisely, the ultrasonic sensor, approaches the object. or The amplitude of the echo depends only on the distance between the ultrasonic sensor and the object. or The ultrasonic sensor gets progressively louder as it approaches taller objects.

[0047] In the case of an object having a height lower than the mounting height of the ultrasonic sensor of a motor vehicle, or Depending on the distance between the ultrasonic sensor and the object, the elevation angle and therefore the power of the reflected ultrasonic signal or The amplitude also changes. 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.

[0048] Figure 3 shows a graph of the elevation angle as a function of the distance from an object to which the ultrasonic sensor according to Figure 2 is attached, the object having a height 40 cm less than the mounting height of the ultrasonic sensor attached to the motor vehicle, in this case the object being configured as a curb.

[0049] From the graph, it can be seen that when the object is not yet in the vicinity of the motor vehicle, especially when the distance to the ultrasonic sensor of the motor vehicle is more than two meters, the elevation angle is approximately 90°. In short, in this region, the power, or more precisely, the amplitude, of the reflected ultrasonic signal essentially depends only on the distance between the object and the ultrasonic sensor. In this case, the amplitude of the reflected ultrasonic signal is proportional to the distance between the motor vehicle, or , becomes larger when the ultrasonic sensor approaches such an object, i.e., when the distance between the object and the ultrasonic sensor becomes smaller.

[0050] Motor vehicles, orAs the ultrasonic sensor approaches the object, and the object enters the near-field range of the motor vehicle, particularly within two meters of the ultrasonic sensor of the motor vehicle, 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 as the distance between the object and the ultrasonic sensor decreases. However, as the distance decreases, the decrease in elevation angle becomes dominant, resulting in an overall decrease in the amplitude of the reflected ultrasonic signal.

[0051] 2 and 3 assume that the azimuth angle of the object relative to the ultrasonic sensor does not change substantially while the vehicle is moving. However, in practice, situations may often arise where the azimuth angle of the object relative to the ultrasonic sensor changes as the vehicle moves. Therefore, the present invention accounts for this change by providing an amplitude correction factor to take into account the azimuth angle of the object relative to the ultrasonic sensor when characterizing the object. decision By doing so, the relationship explained in relation to Figures 2 and 3 can be considered even if the azimuth angle of the object relative to the ultrasonic sensor changes while the vehicle is moving, and the distance between the object and the ultrasonic sensor changes depending on the height of the object. kind of decision vinegar R It will be possible to use it for this purpose.

[0052] 4 shows a flow chart of a method 100 for characterizing objects in the vicinity of a motorized vehicle, where the motorized vehicle is Device and an assistance system comprising a 1D ultrasonic sensor arranged on the front bumper of a motorized vehicle and having a radiation pattern according to Figures 1 and 2. The motorized vehicle gradually approaches an object in front of it from a distance of 2.5 meters, while the ultrasonic sensor continuously emits ultrasonic signals, where the object is a curb having a height approximately 40 cm lower than the mounting height of the ultrasonic sensor in the motorized vehicle.

[0053] In step 101, a first echo is received and a first amplitude of the first echo is decision In addition, the latest azimuth angle of the object relative to the ultrasonic sensor is calculated by trilateration using echoes received before the first echo. decision Based on the measured azimuth angle and the horizontal radiation pattern 1 of the ultrasonic sensor shown in FIG. 1, the amplitude correction factor for the first echo is calculated as follows: decision To do this, we measure decision For the selected azimuth angle, the amplitude correction factor is then applied. decision vinegar R The power values attributable to the azimuth angles of the ultrasonic signals are then read out from the radiation pattern 1. The first amplitude is then calculated based on the amplitude correction factor, particularly preferably by multiplying the value of the first amplitude by the amplitude correction factor. also is corrected by a scaling of the value of the first amplitude, i.e., by a division, particularly preferably by a multiplication also The result of the division is the first corrected amplitude.

[0054] In step 102, a second echo is received that follows the first echo in time, and a second amplitude of the second echo is decision In addition, the latest azimuth angle of the object relative to the ultrasonic sensor is calculated by trilateration using the echo received before the second echo. decision Based on the measured azimuth angle and the horizontal radiation pattern 1 of the ultrasonic sensor shown in FIG. 1, an amplitude correction factor for the second echo is calculated as follows: decision To do this, we measure decision For the selected azimuth angle, the amplitude correction factor is then applied. decision vinegar R The power values assigned to the azimuth angles of the ultrasonic signals are then read out from the radiation pattern 1. The second amplitude is then calculated based on the amplitude correction factor, particularly preferably by multiplying the value of the second amplitude by the amplitude correction factor. also is corrected by dividing and scaling the value of the second amplitude, i.e., by scaling, particularly preferably by multiplication. alsoThe result of the division is the second corrected amplitude.

[0055] In step 103, the first amplitude change is determined by comparing the first corrected amplitude with the second corrected amplitude. decision In this case, the amplitude increase is decision Because the object is not yet in the vicinity of the motor vehicle at the time of measurement, i.e., the distance to the ultrasonic sensor of the motor vehicle is more than two meters, the elevation angle is approximately 90°. As a result, in this region, the corrected amplitude of the reflected ultrasonic signal essentially depends only on the distance between the object and the ultrasonic sensor. In other words, the corrected amplitude of the reflected ultrasonic signal depends only on the distance between the motor vehicle, or , becomes larger when the ultrasonic sensor approaches such an object, i.e., when the distance between the object and the ultrasonic sensor becomes smaller, i.e., the first amplitude change is obtained here as an amplitude increase over time.

[0056] At the time of measurement, the object was not yet in the vicinity of a motor vehicle. decision The final calculation of the object's height based on the amplitude change kind is not performed and method 100 returns to step 102. This results in a further, third echo being received that follows the second echo in time, and the third corrected amplitude of the third echo being: decision will be done.

[0057] Then, in step 103, the second amplitude change is calculated by comparing the second corrected amplitude with the third corrected amplitude. decision During this time, the motor vehicle moves forward in the direction of the object, and when further measurements are taken, the object is in the vicinity of the motor vehicle, i.e., specifically, the motor vehicle or The second amplitude change occurs when the ultrasonic sensor is 0.5 meters away from the object. decisionThis is because the elevation angle is significantly smaller than 90° in this region, which reduces the overall corrected amplitude of the reflected ultrasonic signals. As a result, the third corrected amplitude of the third echo is smaller than the second corrected amplitude of the second echo. That is, the second amplitude change is now obtained as an amplitude decrease over time.

[0058] In step 104, the height of the object classification but decision At this time, a comparison is made between the first amplitude change and the second amplitude change. In this case, the first amplitude change is an increase in amplitude over time, and the second amplitude change is a decrease in amplitude over time. decision Therefore, the object is considered low kind will be done.

[0059] Based on this method 100, it is possible to inexpensively and reliably determine the height of an object, in this case the shoulder, even if the azimuth angle of the object relative to the ultrasonic sensor changes as the vehicle moves. kind It is possible to do this. The present application relates to the invention described in the claims, but also includes the following as other aspects. 1. 1. A method (100) for characterizing objects in the vicinity of a motorized vehicle using an assistance system for the motorized vehicle, comprising: In the method (100), When a motorized vehicle moves relative to an object, an ultrasonic signal is generated by the ultrasonic sensor of the assistance system. Call And 、 O The echo of the ultrasonic signal reflected by the object is received. R, system O Device Using the above, the amplitude of each of the received echoes is decision Based on these amplitudes, the height of the object is calculated. classification but decision will be 、 In the method, ReceivingFor each received echo, an amplitude correction factor is added to account for the azimuth angle of the object relative to the ultrasonic sensor. decision The amplitude of each is corrected based on the corresponding amplitude correction factor. 、 O object height kind is obtained by comparing the first corrected amplitude of the first echo with the second corrected amplitude of the second echo received after the first echo. decision Based on the first amplitude change, decision Based on the first amplitude change, decision A method (100) characterized by: 2. 10. The method (100) according to claim 1, wherein the amplitude correction factor is dependent on the horizontal radiation pattern of the ultrasonic sensor. 3. the azimuth angle is determined by trilateration using multiple echoes, i.e. echoes received in time before the first echo and before the second echo, and / or also is based on signals from surrounding sensors other than the vehicle's ultrasonic sensors. decision 3. The method (100) according to claim 1 or 2, wherein 4. 4. The method (100) according to any one of the above 1 to 3, wherein the first echo and the second echo are echoes that are successive in time. 5. The object is in the vicinity of a motor vehicle, preferably at a distance of less than two meters from an ultrasonic sensor of the motor vehicle, and when the motor vehicle approaches the object, the first amplitude change is a decrease in amplitude over time. decision If so, it is considered low kind The first amplitude change is an increase in amplitude over time. decision If so, it is considered high kind 5. The method (100) according to any one of the above 1 to 4. 6. The height of the object classification But first amplitude By comparing the change with the second amplitude change decision the second amplitude change is a third corrected amplitude of a third echo received after the second echo, and a second corrected amplitude of the second echo, also is calculated by comparing the fourth corrected amplitude of the fourth echo received after the second echo and before the third echo. decision 6. The method (100) according to any one of the above 1 to 5, 7. When a motor vehicle approaches an object, the first amplitude change is an increase in amplitude over time, and the second amplitude change is a decrease in amplitude over time. decision If the object is found to be low, kind 6. The method (100) according to claim 6, wherein 8. When the object is in the vicinity of a motor vehicle, preferably within a distance of two meters from an ultrasonic sensor of the motor vehicle, and the motor vehicle approaches the object, the object exhibits a first amplitude change and a second amplitude change, each of which exhibits a decrease in amplitude over time. decision and additionally, the second amplitude change is determined to be low if it is greater than the first amplitude change. kind 6. The method (100) according to claim 6, wherein 9. When the object is in the vicinity of a motor vehicle, preferably within a distance of two meters from an ultrasonic sensor of the motor vehicle, and the motor vehicle approaches the object, the object generates a first amplitude change and a second amplitude change, each of which exhibits an amplitude increase over time. decision and additionally, the second amplitude change is determined to be high if it is greater than the first amplitude change. kind The method (100) according to any one of 6 to 8 above, wherein 10. The comparison of amplitude changes is the difference between the amplitude changes and / or also teeth, Amplitude Change The method (100) according to any one of 6 to 9 above, wherein the ratio is based on the following: 11. The comparison of the corrected amplitudes is the difference between the corrected amplitudes, and / or also teeth, Corrected Amplitude The method (100) according to any one of the above 1 to 10, characterized in that the ratio is based on the following. 12. Additionally, if the absolute value of the first amplitude change is greater than a predetermined threshold, the height of the object is classification but decision The method (100) according to any one of the above 1 to 11, characterized in that 13. The threshold value is Currently speed, and / or also is the temperature around the motor vehicle, and / or also is the humidity around the motor vehicle, and / or also 13. The method (100) according to claim 12, wherein is predetermined depending on the mounting height of the ultrasonic sensor on the motor vehicle. 14. The method comprises: assist was done, and / or also semi-automatic and / or also The method (100) according to any one of 1 to 13 above, characterized in that it is used in an automatic parking process. 15. An ultrasonic sensor and a control device designed to implement the method (100) described in any one of 1 to 14 above. Device An assistant system with

Claims

Claim 1: A method (100) for characterizing objects in the periphery of a motorized vehicle using an assistance system for the motorized vehicle, comprising: The method (100) includes: moving a motorized vehicle relative to an object; and transmitting an ultrasonic signal by an ultrasonic sensor of an assistance system; Echoes of the ultrasonic signal reflected by the object are received, Using a control device, an amplitude of each of the plurality of received echoes is determined, and a classification of the height of the object is determined based on these amplitudes. In the method, For the received echoes, respective amplitude correction factors are determined that take into account the azimuth angle of the object relative to the ultrasonic sensor, and each amplitude is corrected with respect to the corresponding amplitude correction factor; a classification of the height of the object is determined based on a first amplitude change determined by comparing a first corrected amplitude of the first echo to a second corrected amplitude of a second echo received after the first echo; the classification of the object's height is determined by comparing the first amplitude change to the second amplitude change, the second amplitude change being determined by comparing a third corrected amplitude of a third echo received after the second echo to the second corrected amplitude of the second echo, or a fourth corrected amplitude of a fourth echo received after the second echo and before the third echo; classifying an object as low if the first amplitude change is determined to be an increase in amplitude over time and the second amplitude change is determined to be a decrease in amplitude over time as the motorized vehicle approaches the object; When the object is in the vicinity of a motor vehicle, preferably within a distance of two meters of an ultrasonic sensor of the motor vehicle, and the motor vehicle approaches the object, the object's amplitude decrease 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; When the object is in the vicinity of a motor vehicle, preferably within two meters of an ultrasonic sensor of the motor vehicle, and the motor vehicle approaches the object, the object's 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, the object is classified as tall; At least one of the following: A method (100) characterized by:

2. 2. The method (100) of claim 1, wherein the amplitude correction factor is dependent on the horizontal radiation pattern of the ultrasonic sensor.

3. 2. The method (100) of claim 1, wherein the azimuth angle is determined by trilateration using multiple echoes, i.e., echoes received in time before the first echo and before the second echo, and / or based on signals of surrounding sensors other than ultrasonic sensors of the vehicle.

4. The method (100) of claim 1, characterized in that the first echo and the second echo are echoes that are consecutive in time.

5. 2. The method (100) of claim 1, wherein the object is in proximity to a motor vehicle, preferably within two meters of an ultrasonic sensor of the motor vehicle, and wherein as the motor vehicle approaches the object, the first amplitude change is classified as low if a decrease in amplitude over time is determined, and the first amplitude change is classified as high if an increase in amplitude over time is determined.

6. 2. The method (100) of claim 1, wherein the comparison of amplitude changes is based on a difference in amplitude changes and / or a ratio of amplitude changes.

7. 2. The method (100) of claim 1, wherein the comparison of the corrected amplitudes is based on a difference of the corrected amplitudes and / or a ratio of the corrected amplitudes.

8. 2. The method (100) of claim 1, further comprising determining a classification of the object's height if the absolute value of the first amplitude change is greater than a predetermined threshold.

9. 9. The method (100) of claim 8, wherein the threshold value is predetermined depending on the current speed, and / or the temperature around the motor vehicle, and / or the humidity around the motor vehicle, and / or the mounting height of the ultrasonic sensor on the motor vehicle.

10. 2. The method (100) of claim 1, wherein the method is used in assisted and / or semi-automated and / or automatic parking processes.

11. An assistant system comprising an ultrasonic sensor and a control device designed to implement the method (100) according to any one of claims 1 to 10.

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