Ultrasound sensor system for a motor vehicle and method for operating an ultrasound sensor system of a motor vehicle

Abstract

During operation of an ultrasound sensor system (2) of a motor vehicle (1), ultrasound waves from surroundings of the motor vehicle (1) are detected by means of an ultrasound sensor (3a) of the ultrasound sensor system (2), and sensor signals are generated depending thereon. Depending on the sensor signals, an output is generated which contains respective existence information and / or position information for one or more objects in the surroundings of the motor vehicle (1). Depending on the sensor signals, a first object (5) is provisionally detected in a predefined near region (7) of the ultrasound signal (3a) and a check is carried out to determine whether a second object (6) is present in a predefined far region (8) of the ultrasound sensor (3a). The first object (5) is ignored during generation of the output, or the output contains information which flags the first object (5) as not relevant if it is determined, based on the check, that the second object (6) is present in the far region (8).

Description

[0001] Ultrasonic sensor system for a motor vehicle and method for operating an ultrasonic sensor system of a motor vehicle

[0002] The present invention relates to a method for operating an ultrasonic sensor system of a motor vehicle, wherein ultrasonic waves from an environment of the motor vehicle are detected by means of an ultrasonic sensor of the ultrasonic sensor system, sensor signals are generated depending on the detected ultrasonic waves, and an output is generated depending on the sensor signals, which output contains respective existence and / or position information for one or more objects in the environment of the motor vehicle. The invention further relates to a corresponding ultrasonic sensor system for a motor vehicle, an electronic vehicle guidance system for a motor vehicle comprising such an ultrasonic sensor system, and a corresponding computer program product.

[0003] Ultrasonic sensors can be used to detect objects in the vicinity of a motor vehicle, i.e., to determine their presence, distance from the vehicle, and, if necessary, more precisely their position. Based on this information, driver assistance information can be provided and / or control signals can be generated for automatic or partially automatic control of the vehicle.

[0004] In certain weather conditions, the ultrasonic sensors may be covered or partially covered by snow or ice. This can trigger warnings or other actions that are useful for other objects in the immediate vicinity of the vehicle, such as curbs, posts, other vehicles, and so on, but are undesirable when the ultrasonic sensor is covered in snow or ice. It is therefore desirable to be able to reliably detect such snow or ice deposits.

[0005] Document US 11,175,391 B2 describes an object detection device in which an ECU stops the transmission of search waves from a plurality of ultrasonic sensors when a vehicle is traveling at at least a predetermined speed. The ECU counts the frequency of reception of waves with an intensity of at least a threshold intensity for each of the ultrasonic sensors. The ECU detects a first frequency for a first sensor of the ultrasonic sensors and a second frequency for a second sensor of the ultrasonic sensors. The ECU determines that snow accumulation has occurred on the first sensor when the first frequency is less than the second frequency and a difference between the first frequency and a reference value is not less than a predetermined value.

[0006] A disadvantage is that two ultrasonic sensors must be used to identify the snow accumulation on the first sensor. The second sensor must not also be covered with snow. This significantly limits the applicability of the method.

[0007] It is an object of the present invention to provide an improved concept for detecting snow or ice deposits on an ultrasonic sensor, which does not necessarily require an additional ultrasonic sensor.

[0008] This object is achieved by the respective subject matter of the independent claims. Advantageous further developments and preferred embodiments are the subject matter of the dependent claims.

[0009] The invention is based on the idea of ​​exploiting the fact that when the ultrasonic sensor is covered or partially covered with snow or ice, it can receive ultrasonic waves through the covering. Therefore, if the ultrasonic sensor detects both a first object in a near area and a second object in a far area, it can be assumed that the first object is covered with ice or snow or the like, which can therefore be ignored.

[0010] According to one aspect of the invention, a method for operating an ultrasonic sensor system of a motor vehicle is specified. An ultrasonic sensor of the ultrasonic sensor system detects ultrasonic waves from the surroundings of the motor vehicle, and sensor signals are generated based on the detected ultrasonic waves. Based on the sensor signals, an output is generated that contains respective existence and / or position information for one or more objects in the surroundings of the motor vehicle. Based on the sensor signals, a first object is provisionally detected in a predefined near range of the ultrasonic sensor. Particularly in response to the provisional detection of the first object, a check is performed based on the sensor signals to determine whether a second object is present in a predefined far range of the ultrasonic sensor.If the check determines that the second object is present in the far-field region, the first object is ignored when generating the output. Alternatively, if the check determines that the second object is present in the far-field region, the output contains information that marks the first object as irrelevant.

[0011] All steps of the method, unless expressly stated otherwise, can be performed by a data processing device having at least one computing unit, in particular by a data processing device of the motor vehicle. In particular, the at least one computing unit is configured or adapted to perform the steps of the computer-implemented method. For this purpose, the at least one computing unit can, for example, store a computer program containing instructions that, when executed by the at least one computing unit, cause the at least one computing unit to execute the computer-implemented method.

[0012] All computing units of the at least one computing unit can be part of the motor vehicle. However, it is also possible for all computing units of the at least one computing unit to be part of an external computing system outside the motor vehicle, for example, a backend server or a cloud computing system. It is also possible for the at least one computing unit to comprise both at least one vehicle computing unit of the motor vehicle and at least one external computing unit of the external computing system. The at least one vehicle computing unit can, for example, be comprised of one or more control units (ECUs) (electronic control units) and / or one or more zone control units (ZCLIs) and / or one or more domain control units (DCLIs) of the motor vehicle and / or the environment sensor system.

[0013] In the event that the at least one computing unit includes two or more computing units, certain steps carried out by the at least one computing unit can be understood, for example, in such a way that different computing units carry out different steps or different parts of a step. In particular, it is not necessary for each computing unit to carry out the steps completely. In other words, the execution of the steps can be distributed among the two or more computing units. The existence and / or position information for an object includes, for example, the information that the object is present in the detection range of the ultrasonic sensor or the ultrasonic sensor system and, if applicable, the distance it is located at from the ultrasonic sensor, the ultrasonic sensor system, or the motor vehicle.In some embodiments, the existence and / or position information may also include more detailed information regarding the position of the object, in particular if ultrasonic waves are detected by several ultrasonic sensors of the ultrasonic sensor system at different positions of the motor vehicle for its detection.

[0014] Based on the output, or the existence and / or position information, the motor vehicle, for example an electronic vehicle guidance system of the motor vehicle, can initiate appropriate measures to account for the existence or positioning of the object. In particular, depending on the output, at least one control signal for at least partially automatic guidance of the motor vehicle and / or assistance information to support a driver of the motor vehicle in driving the motor vehicle can be generated. Generally, the respective existence and / or position information of all detected objects or all currently detected objects can be taken into account for this purpose.

[0015] The near range and the far range are parts, in particular non-overlapping parts, of an overall detection range of the ultrasonic sensor. It is possible that the combination of near range and far range forms the entire detection range. However, this is not necessarily the case. Both the near range and the far range are characterized or defined, in particular, by a respective distance interval for the distance from the ultrasonic sensor. A minimum distance of the far range is, in particular, greater than or equal to a maximum distance of the near range.

[0016] The near range can, in particular, begin directly at the ultrasonic sensor, in particular a membrane of the ultrasonic sensor, and end, for example, at a distance of a few centimeters or a few tens of centimeters from the ultrasonic sensor. The near range can, in particular, be specified such that it covers a distance range typically expected for a snow or ice cover. The far range can directly adjoin the near range, or there can be another distance range between the near range and the far range that is neither part of the near range nor the far range.

[0017] According to the invention, exploitation is now made of the fact that ultrasonic waves can at least partially penetrate a snow or ice covering the ultrasonic sensor and the sensor signals of the ultrasonic sensor can be used despite such ice or snow covering. If both the first object in the near field and the second object in the far field are detected simultaneously by the same ultrasonic sensor, this means that the first object in the near field does not completely block the ultrasonic sensor. It can therefore be assumed that the first object is a snow or ice covering that can be ignored. Ignoring the first object when generating the output can occur in particular by not generating any existence and / or position information for the first object when generating the output.Alternatively, these can be generated, but marked in the output with the information that they are not relevant. Subsequent functions that use the output can then forgo consideration of the first object or the use of the existence and / or position information for the first object.

[0018] Thus, if both the first object in the near field and the second object in the far field are detected, the output contains the existence and / or position information for the second object, but not for the first object. Alternatively, the output contains the respective existence and / or position information for the first object and the second object, but also the information that the first object is not relevant.

[0019] The fact that the first object is provisionally detected can be understood in particular to mean that it is detected in principle, but the detection is subject to the detection of the second object in the long-range range. If the second object is detected in the long-range range, the first object is ignored as described despite the preliminary detection; otherwise, its detection is confirmed or validated, for example.

[0020] The method according to the invention therefore ensures that the ultrasonic sensor is available even in situations where it is covered in ice or snow. The ultrasonic sensor can, for example, be equipped as an ultrasonic transceiver. The ultrasonic sensor can then emit ultrasound into the surroundings of the motor vehicle and detect parts of it that are reflected in the surroundings. This is also referred to as a direct signal path. It is also possible for the ultrasonic sensor to detect parts of ultrasonic waves that were emitted by another ultrasonic sensor in the ultrasonic sensor system and were reflected in the surroundings. This is also referred to as an indirect signal path. The detected ultrasonic waves that are used to detect the first object or the second object can therefore originally have been emitted by the ultrasonic sensor and / or the another ultrasonic sensor.Nevertheless, the additional ultrasonic sensor is advantageously not absolutely necessary for carrying out the method according to the invention.

[0021] According to at least one embodiment, at least one control signal for at least partially automatically guiding the motor vehicle is generated depending on the output, and / or assistance information for assisting a driver of the motor vehicle in driving the motor vehicle is generated depending on the output. In this case, the method can also be referred to as a method for at least partially automatically guiding the motor vehicle.

[0022] The at least one control signal can, for example, be provided to one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more drive motors of the motor vehicle. The one or more actuators can influence a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least partially automatically.

[0023] The assistance information can be output via an output device of the motor vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0024] According to at least one embodiment, if the check determines that the second object is present in the long-range area, the first object is not taken into account when generating the at least one control signal. In other words, the at least one control signal is generated independently of the first object or, if applicable, independently of existence and / or position information for the first object. This, in particular, prevents unnecessary measures from being initiated during the at least partially automatic guidance of the motor vehicle under the assumption that the first object is a relevant object.

[0025] According to at least one embodiment, if the check determines that the second object is present in the far-field area, the first object is not taken into account when generating the assistance information. In other words, the assistance information is generated independently of the first object or, if applicable, independently of the existence and / or position information for the first object.

[0026] This avoids, in particular, the driver of the motor vehicle being unnecessarily warned or made aware of the first object on the assumption that the first object is a relevant object.

[0027] According to at least one embodiment, the output includes existence and / or position information for the second object if the check determines that the second object is present in the remote area. The at least one control signal and / or the assistance information will be generated depending on the existence and / or position information for the second object.

[0028] Accordingly, the detection or localization of the second object by the ultrasonic sensor can be adequately used, even though the first object is discarded or ignored.

[0029] According to at least one embodiment, the first object is taken into account when generating the at least one control signal if the check determines that the second object is not present in the far-end range. Alternatively or additionally, the first object is taken into account when generating the assistance information if the check determines that the second object is not present in the far-end range.

[0030] In particular, the output includes existence and / or position information for the first object if the check determines that the second object is not present in the far-field area. The at least one control signal and / or the assistance information will be generated depending on the existence and / or position information for the first object.

[0031] If the second object is not detected in the distant field, it cannot be assumed with sufficient certainty that the first object is covered by snow or ice, although this is theoretically possible. The reason the second object is not detected by the ultrasonic sensor may be that the second object is simply not present, or that the ultrasonic sensor is completely blocked by the first object. In the former case, the first object is not ignored for safety reasons, even if it might not be relevant. In the latter case, the first object is relevant anyway and must be taken into account.

[0032] According to at least one embodiment, the near range begins immediately at the near range. In other words, the near range corresponds to a distance interval [0, D1] with D1 > 0.

[0033] This means that even very thin layers of snow or ice can be adequately taken into account.

[0034] According to at least one embodiment, the near range ends at a predefined maximum distance from the ultrasonic sensor, which lies in the range [0.5 cm, 30 cm], in particular D1 lies in the range [0.5 cm, 30 cm],

[0035] This ensures that objects that are comparatively close to the motor vehicle, but not within a distance range that is plausible for being covered with ice or snow, do not trigger the check provided for in the invention, or are generally taken into account when generating the output and are not ignored.

[0036] The long-range range corresponds in particular to a distance range [D2, D3] with D2 > D1 or a distance range [D2, oo]. D3 can correspond to a maximum detection distance of the ultrasonic sensor or can be smaller than this. According to at least one embodiment, a predefined distance lies between the near range and the long-range range.

[0037] This ensures that the first object is only ignored if there is a gap between the first and second objects. In this case, the ultrasonic sensor can be assumed to be functioning properly.

[0038] According to at least one embodiment, first ultrasonic waves are emitted into the environment by means of the ultrasonic sensor and the sensor signals are generated depending on reflected portions of the first ultrasonic waves.

[0039] The first object and, if applicable, the second object are thus detected, in particular, along the direct signal path. This has the advantage, among other things, that the second object does not necessarily have to be within the detection range of the additional ultrasonic sensor.

[0040] According to at least one embodiment, second ultrasonic waves are emitted into the environment by means of the further ultrasonic sensor of the ultrasonic sensor system and the sensor signals are generated depending on reflected components of the second ultrasonic waves.

[0041] The first object and, if applicable, the second object are therefore detected primarily according to the indirect signal path. This has the advantage, for example, that the second object can be detected more reliably.

[0042] According to at least one embodiment, the first ultrasonic waves are emitted into the environment by means of the ultrasonic sensor, and the second ultrasonic waves are emitted into the environment by means of the further ultrasonic sensor. The sensor signals are generated depending on the reflected portions of the first ultrasonic waves and the reflected portions of the second ultrasonic waves.

[0043] For applications or application situations that may arise in a method according to the invention and which are not explicitly described herein, it may be provided that, according to the method, an error message and / or a request to enter user feedback is output and / or a standard setting and / or a predetermined initial state is set.

[0044] According to a further aspect of the invention, an ultrasonic sensor system for a motor vehicle is provided. The ultrasonic sensor system comprises an ultrasonic sensor configured to detect ultrasonic waves from the surroundings of the motor vehicle and to generate sensor signals depending on the detected ultrasonic waves. The ultrasonic sensor system comprises at least one computing unit configured to generate an output, depending on the sensor signals, containing respective existence and / or position information for one or more objects in the surroundings of the motor vehicle.The at least one computing unit is configured to provisionally detect a first object in a predefined near range of the ultrasonic sensor based on the sensor signals, and to check, based on the sensor signals, in particular in response to the preliminary detection of the first object, whether a second object is present in a predefined far range of the ultrasonic sensor. The at least one computing unit is configured to ignore the first object when generating the output or to generate the output in such a way that it contains information that identifies the first object as irrelevant if the check determines that the second object is present in the far range.

[0045] In the present disclosure, a computing unit can be understood, for example, as a data processing device with processing circuits. A computing unit can therefore perform computing operations to process data. The computing operations can also include indexed accesses to a data structure, for example, a look-up table (LUT).

[0046] A computing unit can in particular comprise one or more computers, one or more microcontrollers and / or one or more integrated circuits, for example one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit can also contain one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit can also comprise a physical or virtual cluster of computers or other of the aforementioned units.

[0047] A computing unit may also include one or more hardware and / or software interfaces and / or one or more memory units. A memory unit may be embodied as a volatile data memory, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM), or as a non-volatile data memory, for example, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM),a magnetoresistive random access memory (MRAM) or a phase-change random access memory (PCRAM).

[0048] Further embodiments of the ultrasonic sensor system according to the invention follow directly from the various embodiments of the method according to the invention, and vice versa. In particular, individual features and corresponding explanations, as well as advantages relating to the various embodiments of the method according to the invention, can be transferred analogously to corresponding embodiments of the ultrasonic sensor system according to the invention. In particular, the ultrasonic sensor system according to the invention is designed or programmed to carry out a method according to the invention. In particular, the ultrasonic sensor system according to the invention carries out the method according to the invention.

[0049] According to a further aspect of the invention, an electronic vehicle guidance system for a motor vehicle is specified. The electronic vehicle guidance system has an ultrasonic sensor system according to the invention. The at least one computing unit is configured, if the check determines that the second object is present in the long-range area, to generate at least one control signal for at least partially automatically guiding the motor vehicle depending on the output, wherein the first object is not taken into account when generating the at least one control signal, and / or to generate assistance information for supporting a driver of the motor vehicle when driving the motor vehicle depending on the output, wherein the first object is not taken into account when generating the assistance information.

[0050] An electronic vehicle guidance system can be understood as an electronic system that is designed to guide a vehicle fully automatically or fully autonomously, in particular without requiring intervention by a driver. The vehicle automatically performs all required functions, such as steering, braking and / or acceleration maneuvers, monitoring and recording road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system can implement a fully automatic or fully autonomous driving mode of the motor vehicle according to level 5 of the classification according to SAE J3016. An electronic vehicle guidance system can also be understood as a driver assistance system (ADAS), which supports the driver in partially automated or semi-autonomous driving. In particular, the electronic

[0051] The vehicle guidance system must implement a partially automated or semi-autonomous driving mode according to Levels 1 to 4 of the SAE J3016 classification. Here and below, "SAE J3016" refers to the corresponding standard in the April 2021 version.

[0052] The at least partially automated vehicle guidance may therefore include driving the vehicle according to a fully automated or fully autonomous driving mode of Level 5 according to SAE J3016. The at least partially automated vehicle guidance may also include driving the vehicle according to a partially automated or semi-autonomous driving mode according to Levels 1 to 4 according to SAE J3016.

[0053] According to a further aspect of the invention, a computer program with instructions is provided. When the instructions are executed by an ultrasonic sensor system according to the invention, in particular by the at least one computing unit of the ultrasonic sensor system, the instructions cause the ultrasonic sensor system to perform a method according to the invention.

[0054] The instructions can be provided, for example, as program code. The program code can be provided, for example, as binary code or assembly code and / or as source code of a programming language, for example, C, and / or as a program script, for example, Python.

[0055] According to a further aspect of the invention, a computer-readable storage medium is provided which stores a computer program according to the invention.

[0056] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the backreferences to the claims or deviate from them.

[0057] The invention is explained in more detail below using concrete embodiments and associated schematic drawings.

[0058] Fig. 1 schematically shows a motor vehicle with an exemplary embodiment of an ultrasonic sensor system according to the invention.

[0059] Fig. 1 shows a motor vehicle 1 with an exemplary embodiment of an ultrasonic sensor system 2 according to the invention, which can, for example, be part of a driver assistance system or another electronic vehicle guidance system of the motor vehicle 1. By means of the ultrasonic sensor system 2, a method according to the invention for operating the ultrasonic sensor system 2 can be carried out. The ultrasonic sensor system 2 has an ultrasonic sensor 3a, which is configured to detect ultrasonic waves from an environment of the motor vehicle 1 and to generate sensor signals depending on the detected ultrasonic waves. The ultrasonic sensor system 2 has at least one computing unit 4, which is configured to generate an output depending on the sensor signals, which output contains respective existence and / or position information for one or more objects in the environment of the motor vehicle 1.

[0060] The at least one computing unit 4 is configured to provisionally detect a first object 5 in a predefined near range 7 of the ultrasonic sensor 3a, for example, directly in front of the ultrasonic sensor 3a, depending on the sensor signals. The at least one computing unit 4 is configured to check, based on the sensor signals, whether a second object 6 is present in a predefined far range 8 of the ultrasonic sensor 3a.

[0061] The at least one computing unit 4 is configured to ignore the first object 5 when generating the output, i.e., to not generate any existence and / or position information for the first object 5, if the check determines that the second object 6 is present in the remote area 8. Alternatively, at least one computing unit 4 can generate the output including the existence and / or position information for the first object 5 and including information that identifies the first object 5 as irrelevant, if the check determines that the second object 6 is present in the remote area 8.

[0062] If the second object 6 is present in the long-range area 8, the at least one computing unit 4 can, for example, generate at least one control signal for at least partially automatically guiding the motor vehicle 1 and / or assistance information to support a driver of the motor vehicle 1 depending on the existence and / or position information for the second object 6 and independently of the existence and / or position information for the first object 5. If the second object 6 is not present in the long-range area 8, the at least one computing unit 4 can generate the at least one control signal and / or the assistance information depending on the existence and / or position information for the first object 5. Optionally, the ultrasonic sensor system 2 can have a further ultrasonic sensor 3b.In this case, the at least one computing unit 4 can use not only the direct signal path, in which the ultrasonic sensor 3a emits ultrasonic waves and detects reflected portions thereof, but also the indirect signal path, in which the further ultrasonic sensor 3b emits ultrasonic waves and reflected portions thereof are detected by the ultrasonic sensor 3a.

[0063] It should be noted that the explanations in the present disclosure were primarily directed at covering the ultrasonic sensor 3a with snow or ice. However, the explanations can also be applied to partially permeable contamination of the ultrasonic sensor 3a, if necessary.

[0064] If the motor vehicle 1 is driving, for example, on a dirty road or during snowfall, the accumulation of snow or dirt on the sensor membrane of the ultrasonic sensor 3a can cause a partial or unreliable blockage. This can lead to a very close object being repeatedly detected and a corresponding warning being issued. This can result in unnecessary and potentially confusing warning signals to the driver. This is avoided by the invention.

Claims

Patent claims 1. A method for operating an ultrasonic sensor system (2) of a motor vehicle (1), wherein ultrasonic waves from an environment of the motor vehicle (1) are detected by means of an ultrasonic sensor (3a) of the ultrasonic sensor system (2), and sensor signals are generated depending on the detected ultrasonic waves; depending on the sensor signals, an output is generated which contains respective existence and / or position information for one or more objects in the environment of the motor vehicle (1); characterized in that, depending on the sensor signals, a first object (5) is provisionally detected in a predefined near range (7) of the ultrasonic sensor (3a); based on the sensor signals, a check is carried out to determine whether a second object (6) is present in a predefined far range (8) of the ultrasonic sensor (3a).and the first object (5) is ignored when generating the output or the output contains information that identifies the first object (5) as irrelevant if the check determines that the second object (6) is present in the remote area (8); 2. The method according to claim 1, wherein, if it is determined based on the check that the second object (6) is present in the long-range area (8), at least one control signal for at least partially automatically guiding the motor vehicle (1) is generated as a function of the output, wherein the first object (5) is not taken into account when generating the at least one control signal; and / or assistance information for supporting a driver of the motor vehicle (1) when driving the motor vehicle (1) is generated as a function of the output, wherein the first object (5) is not taken into account when generating the assistance information.

3. The method according to claim 2, wherein, if the check determines that the second object (6) is present in the remote area (8), the output includes existence and / or position information for the second object (6) and the at least one control signal and / or the assistance information are generated depending on the existence and / or position information for the second object (6).

4. The method according to claim 2 or 3, wherein, if the check determines that the second object (6) is not present in the long-range area (8), the first object (5) is taken into account when generating the at least one control signal; and / or the first object (5) is taken into account when generating the assistance information.

5. The method according to any one of claims 2 to 4, wherein, if the check determines that the second object (6) is not present in the remote area (8), the output includes existence and / or position information for the first object (5) and the at least one control signal and / or the assistance information is generated depending on the existence and / or position information for the first object (5).

6. Method according to one of the preceding claims, wherein the near area (7) begins directly at the ultrasonic sensor (3a).

7. Method according to one of the preceding claims, wherein the near range (7) ends at a predefined maximum distance from the ultrasonic sensor (3a) which lies in the range [0.5 cm, 30 cm].

8. Method according to one of the preceding claims, wherein there is a predefined distance between the near area (7) and the far area (8).

9. Method according to one of the preceding claims, wherein first ultrasonic waves are emitted into the environment by means of the ultrasonic sensor (3a) and the sensor signals are generated depending on reflected components of the first ultrasonic waves.

10. Method according to one of the preceding claims, wherein second ultrasonic waves are emitted into the environment by means of a further ultrasonic sensor (3b) of the ultrasonic sensor system (2) and the sensor signals are generated as a function of reflected components of the second ultrasonic waves.

11. An ultrasonic sensor system (2) for a motor vehicle (1), comprising an ultrasonic sensor (3a) configured to detect ultrasonic waves from the surroundings of the motor vehicle (1) and to generate sensor signals depending on the detected ultrasonic waves; at least one computing unit (4) configured to generate an output depending on the sensor signals, which output contains respective existence and / or position information for one or more objects in the surroundings of the motor vehicle (1); characterized in that the at least one computing unit (4) is configured to provisionally detect a first object (5) in a predefined near range (7) of the ultrasonic sensor (3a) depending on the sensor signals; and to check, based on the sensor signals, whether a second object (6) is present in a predefined far range (8) of the ultrasonic sensor (3a).and to ignore the first object (5) when generating the output or to generate the output in such a way that it contains information that identifies the first object (5) as not relevant if the check determines that the second object (6) is present in the remote area (8); 12. Electronic vehicle guidance system for a motor vehicle (1) comprising an ultrasonic sensor system (2) according to claim 11, wherein the at least one computing unit (4) is configured, if it is determined from the check that the second object (6) is present in the long-range area (8), to generate at least one control signal for at least partially automatically guiding the motor vehicle (1) depending on the output, wherein the first object (5) is not taken into account in the generation of the at least one control signal; and / or depending on the output, to generate assistance information to support a driver of the motor vehicle (1) when driving the motor vehicle (1), wherein the first object (5) is not taken into account when generating the assistance information.

13. A computer program with instructions which, when executed by an ultrasonic sensor system (2) according to claim 11, cause the ultrasonic sensor system (2) to carry out a method according to one of claims 1 to 10.

14. A computer-readable storage medium which contains a computer program according to Claim 13 stores.

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