Identifying a mounting topology of an ultrasonic sensor system of a motor vehicle

Abstract

A first data terminal (13d) of a final ultrasonic sensor (3d) of a motor vehicle (1) is connected to a second data terminal (14a) of an initial ultrasonic sensor (3a) and a first data terminal (17d) of a final further ultrasonic sensor (4d) is connected to a second data terminal (18a) of an initial further ultrasonic sensor (4a). An initialization command is received by the initial ultrasonic sensor (3a) and by the initial further ultrasonic sensor (4a). A first voltage at a second data terminal (14d) of the final ultrasonic sensor (3d) and a second voltage at a second data terminal (18d) of the final further ultrasonic sensor (4d) are determined. A first address is assigned to the initial ultrasonic sensor (3a) depending on the first voltage and a second address is assigned to the initial further ultrasonic sensor (4a) depending on the second voltage.

Description

[0001] Identifying a mounting topology of an ultrasonic sensor system of a motor vehicle

[0002] The present invention is directed to a method for identifying a mounting topology of an ultrasonic sensor system of a motor vehicle, the ultrasonic sensor system comprising a set of ultrasonic sensor devices, which contains an initial ultrasonic sensor device and a final ultrasonic sensor device, and a further set of ultrasonic sensor devices, which contains an initial further ultrasonic sensor device and a final further ultrasonic sensor device. The invention is further directed to a method for detecting one or more objects in an environment of a motor vehicle, to a method for guiding a motor vehicle at least in part automatically, to an ultrasonic sensor system for a motor vehicle, to an electronic vehicle guidance system for a motor vehicle and to a motor vehicle.

[0003] For various driver assistance functions, such as parking assistance functions, as well as for other functions for guiding a motor vehicle at least in part automatically, multiple ultrasonic sensor devices may be mounted to the motor vehicle. The ultrasonic sensor devices may emit ultrasonic waves and / or detect reflected portions of the emitted ultrasonic waves in order to detect objects in the environment of the motor vehicle. Based on the detected objects, respective driver assistance information and / or control signals for guiding the motor vehicle may be generated.

[0004] In general, it is desirable to reduce the number of computing units, in particular electronic control units, ECUs, required for controlling the multiple ultrasonic sensor devices. However, if one computing unit is used for controlling more than one ultrasonic sensor device, in particular two or more nominally identical ultrasonic sensor devices, it may be required to identify a mounting topology of the various ultrasonic sensor devices at the motor vehicle, in particular directly after starting up the system. The mounting topology refers, in particular, to the placement of different ultrasonic sensor devices or groups of ultrasonic sensor devices at different mounting regions at the motor vehicle. For example, a part of the ultrasonic sensor devices may be mounted at a front end, for example at a bumper or grille, of the motor vehicle, while other ultrasonic sensor devices may be mounted at a side of the motor vehicle or at a rear end, for example at a rear bumper, of the motor vehicle. Knowing the mounting topology of the various ultrasonic sensor devices allows to control the ultrasonic sensor devices according to predefined protocols or sequences for emitting and / or detecting the ultrasonic waves by different ultrasonic sensor devices. Furthermore, if the mounting topology is known, the computing unit may locate the detected objects with respect to the motor vehicle.

[0005] It would be possible to associate a dedicated computing unit to each ultrasonic sensor device or to each group of ultrasonic sensor devices mounted in the same mounting region. This would, however, run contrary to the general requirement of reducing the number of computing units and reducing the complexity of the overall system. It would also be possible to assign a fixed mounting location to each ultrasonic sensor itself and store the respective information in the ultrasonic sensor device itself. Then, the ultrasonic sensor device could provide the information regarding its mounting location directly to the relevant computing units. In this case, however, each ultrasonic sensor device would be uniquely usable only for a single mounting location or only for specific mounting regions, which increases the effort for mounting the ultrasonic sensor devices to the motor vehicle and increases the risk for mounting individual ultrasonic sensor devices at wrong locations.

[0006] It is an objective of the present invention to provide a possibility for identifying a mounting topology of an ultrasonic sensor system of a motor vehicle, which comprises at least two sets of ultrasonic sensor devices mounted at different mounting regions at the motor vehicle.

[0007] This objective is achieved by the respective subject matter of the independent claims. Further implementations and preferred embodiments are subject matter of the dependent claims.

[0008] The invention is based on the idea to use one ultrasonic sensor device of each set of ultrasonic sensor devices as a master device and to connect a data terminal of one of the ultrasonic sensor devices of each set, which is not the master, to a predefined electric voltage. The masters can then identify the respective electric voltage and assign respective addresses according to the mounting regions depending on the detected electric voltages.

[0009] According to an aspect of the invention, a method for identifying a mounting topology of an ultrasonic sensor system of a motor vehicle is provided. The ultrasonic sensor system comprises a set of ultrasonic sensor devices, which contains an initial ultrasonic sensor device and a final ultrasonic sensor device. The ultrasonic sensor system comprises a further set of ultrasonic sensor devices, which contains an initial further ultrasonic sensor device and a final further ultrasonic sensor device.

[0010] A first data terminal of the final ultrasonic sensor device is connected to a second data terminal of the ultrasonic sensor device. A first data terminal of the final further ultrasonic sensor device is connected to a second data terminal of the initial further ultrasonic sensor device. An initialization command is received by the initial ultrasonic sensor device, in particular at a first data terminal of the initial ultrasonic sensor device, for example from an electronic control unit, ECU, of the motor vehicle or of the ultrasonic sensor system. The initialization command is also received by the initial further ultrasonic sensor device, in particular at a first data terminal of the initial further ultrasonic sensor device. In response to the initialization command, a first electric voltage, which is applied at a second data terminal of the final ultrasonic sensor device, is determined by the initial ultrasonic sensor device, in particular via the connection of the first data terminal of the final ultrasonic sensor device to the second data terminal of the initial ultrasonic sensor device. In response to the initialization command, a second electric voltage, which is in particular different from the first electric voltage, and which is applied at a second data terminal of the final further ultrasonic sensor device, is determined by the initial further ultrasonic sensor device, in particular via the connection of the first data terminal of the final further ultrasonic sensor device to the second data terminal of the initial further ultrasonic sensor device.

[0011] A first address according to a predefined first mounting region at the motor vehicle is assigned to the initial ultrasonic sensor device depending on the first electric voltage, in particular by the initial ultrasonic sensor device. A second address according to a predefined second mounting region at the motor vehicle, which is in particular different from the first mounting region, is assigned to the initial further ultrasonic sensor device depending on the second electric voltage, in particular by the initial further ultrasonic sensor device.

[0012] The set of ultrasonic sensor devices may be considered as a sequence of two or more ultrasonic sensor devices including the initial ultrasonic sensor device and the final ultrasonic sensor device. The initial ultrasonic sensor device may be considered as a master device, while all other ultrasonic sensor devices of the set of ultrasonic sensor devices may for example be considered as slave devices. In particular, within the sequence, the initial ultrasonic sensor device is directly connected via its second data terminal to exactly one subsequent ultrasonic sensor device in the sequence. The subsequent ultrasonic sensor device may be the final ultrasonic sensor device in case the sequence comprises exactly two ultrasonic sensor devices. Otherwise, the subsequent ultrasonic sensor device of the initial ultrasonic sensor device is not the final ultrasonic sensor device. Furthermore, the final ultrasonic sensor device is connected via its first data terminal, in particular directly, to exactly one preceding ultrasonic sensor device of the sequence. In case the sequence consists of exactly two ultrasonic sensor devices, this preceding ultrasonic sensor device is the initial ultrasonic sensor device. Otherwise, it is not the initial ultrasonic sensor device.

[0013] In case the sequence comprises more than two ultrasonic sensor devices, each ultrasonic sensor device of the sequence except for the initial ultrasonic sensor device and the final ultrasonic sensor device is directly connected via its respective first data terminal to exactly one preceding ultrasonic sensor device of the sequence and via its respective second data terminal directly connected to exactly one subsequent ultrasonic sensor device of the sequence. Consequently, the sequence can also be considered as a series connection of the set of ultrasonic sensor devices starting with the initial ultrasonic sensor device and ending with the final ultrasonic sensor device. It follows that the second data terminal of the initial ultrasonic sensor device is connected to the first data terminal of the final ultrasonic device either directly, namely in case the sequence consists of exactly two ultrasonic sensor devices, or indirectly, namely via the remaining one or more ultrasonic sensor devices of the sequence arranged between the initial ultrasonic sensor device and the final ultrasonic sensor device.

[0014] The further set of ultrasonic sensor devices may be considered as a further sequence of two or more ultrasonic sensor devices including the initial further ultrasonic sensor device and the final further ultrasonic sensor device. The explanations regarding the sequence of two or more ultrasonic sensor devices may be carried over analogously to the further sequence of two or more ultrasonic sensor devices.

[0015] In general, if not stated otherwise, a connection can be considered as a direct or indirect connection here and in the following. In case of a direct connection, the two entities in question are connected by a conductor without a further electronic device being arranged between them. In particular, if a data terminal of a first ultrasonic sensor device is connected to a data terminal of a second ultrasonic sensor device directly, this can be understood such that there is no third ultrasonic sensor device arranged between them. On the other hand, if a data terminal of a first ultrasonic sensor device is connected to a data terminal of a second ultrasonic sensor device indirectly, another electronic component, for example a third ultrasonic sensor device, may be arranged between the respective data terminals of the first and the second ultrasonic sensor device being indirectly connected to each other. An indirect connection may also comprise one or more switching elements, which may selectively close and open the respective connection.

[0016] Herein and in the following, a data terminal can be understood as a terminal for exchanging data between the respective connected entities. However, also a constant electric voltage or electric potential may be applied to a data terminal, as is the case for example for the respective second data terminals of the final ultrasonic sensor device and the final further ultrasonic sensor device.

[0017] The first and the second electric voltage are defined with respect to a predefined reference potential, for example a ground potential. For example, the first electric voltage may be a predefined non-zero supply voltage for supplying the ultrasonic sensor system, in particular the individual ultrasonic sensor devices of the set of ultrasonic sensor devices and the further set of ultrasonic sensor devices with electrical power. The second electric voltage may be equal to zero for example. In other words, the second data terminal of the final ultrasonic sensor device may be connected to the supply voltage or an electric supply potential, respectively, while the second data terminal of the final further ultrasonic sensor device may be connected to the ground potential. Obviously, also other choices for the first and second voltage or the respectively applied potentials at the data terminals may be used, including but not limited to the first electric voltage being zero and the second electric voltage being the electric supply voltage.

[0018] The connection of the second data terminals of the final ultrasonic sensor device and the final further ultrasonic sensor device, respectively, to the first and the second electric voltage, respectively, corresponds, in particular, to a fixed configuration, which is for example always the case once the motor vehicle and in particular the ultrasonic sensor system is powered on. However, when powering on the ultrasonic sensor system it is per se not known by the initial ultrasonic sensor device and the initial further ultrasonic sensor device, respectively, whether the first electric voltage or the second electric voltage is connected to the second data terminal of the respective final or final further ultrasonic sensor device. Using the method according to the invention, this information is retrieved by the initial ultrasonic sensor device and the initial further ultrasonic sensor device, respectively, in response to the initialization command. It is possible for the initial ultrasonic sensor device and the initial further ultrasonic sensor device, respectively, to determine the respective electric voltage via their respective direct or indirect connection to the final ultrasonic sensor device and the final further ultrasonic sensor device, respectively.

[0019] Furthermore, the first address according to the predefined first mounting region is for example permanently associated to the first electric voltage, while the second address according to the second mounting region is for example permanently associated to the second electric voltage. Consequently, once the initial ultrasonic sensor device has identified that the second data terminal of the final ultrasonic sensor device is connected to the first electric voltage, the initial ultrasonic sensor device knows its own mounting region is the first mounting region and consequently can assign the first address to itself. Furthermore, the initial ultrasonic sensor device may also assign the first address to all other ultrasonic sensor devices of the set of ultrasonic sensor devices or a respective subaddress of the first address. The first address can be considered as an information, which is stored at least on the initial ultrasonic sensor device, which indicates that the initial ultrasonic sensor device and the whole set of ultrasonic sensor devices is mounted according to the first mounting region. The initial ultrasonic sensor device may configure itself or all ultrasonic sensor devices of the set of ultrasonic sensor devices according to the first address.

[0020] Analogously, once the initial further ultrasonic sensor device has identified that the second data terminal of the final further ultrasonic sensor device is connected to the second electric voltage, the initial further ultrasonic sensor device knows its own mounting region is the second mounting region and consequently can assign the second address to itself. Furthermore, the initial further ultrasonic sensor device may also assign the second address to all other ultrasonic sensor devices of the further set of ultrasonic sensor devices or a respective sub-address of the second address. The second address can be considered as an information, which is stored at least on the initial further ultrasonic sensor device, which indicates that the initial further ultrasonic sensor device and the whole further set of ultrasonic sensor devices is mounted according to the second mounting region. The initial further ultrasonic sensor device may configure itself or all ultrasonic sensor devices of the further set of ultrasonic sensor devices according to the second address.

[0021] Once the first address and the second address are assigned as described and / or the set of ultrasonic sensor devices and the further set of ultrasonic sensor devices are configured accordingly, they may be operated according to their respective mounting region. The operation of the set of ultrasonic sensor devices and the further set of ultrasonic sensor devices may be handled by one or more computing units of the motor vehicle and / or of the ultrasonic sensor system, including for example the ECU connected to the initial ultrasonic sensor device and the initial further ultrasonic sensor device, and / or by the initial ultrasonic sensor device and the initial further ultrasonic sensor device, respectively, and so forth. In particular, by assigning the first address to the initial ultrasonic sensor device and for example to the remaining ultrasonic sensor devices of the set of ultrasonic sensor devices and by assigning the second address to the initial further ultrasonic sensor device and for example to the remaining ultrasonic sensor devices of the further set of ultrasonic sensor devices, the mounting topology of the ultrasonic sensor system may be considered to be determined. However, in some implementations, the mounting topology may also be further refined by identifying the order of the ultrasonic sensor devices in the sequence and the further sequence, respectively. On the other hand, it is also possible that the order in the sequence or further sequence, respectively, is predefined and fixed.

[0022] In particular, the method for identifying the mounting topology according to the invention may be carried out after the ultrasonic sensor system is powered on and before the ultrasonic sensor system is used to detect one or more objects in the environment of the motor vehicle.

[0023] After the method for identifying the mounting topology according to the invention has been carried out, the ultrasonic sensor system itself and / or further computing units of the motor vehicle know, thanks to the assigned first and second address, that the set of ultrasonic sensor devices is mounted according to the first mounting region and the further set of ultrasonic sensor devices is mounted according to the second mounting region. Consequently, the individual ultrasonic sensor devices of the ultrasonic sensor system may be operated according to their specific mounting location or region and / or the sensor signals received from the individual ultrasonic sensor devices may be interpreted according to the respective mounting location or region. In particular, the set of ultrasonic sensor devices and the further set of ultrasonic sensor devices may both be connected to only one computing unit, for example electronic control unit, of the motor vehicle or the ultrasonic sensor system, respectively. In fact, the initial ultrasonic sensor device and the initial further ultrasonic sensor device only receive the same initialization command and the mounting topology may be determined solely in response to the initialization command by the initial ultrasonic sensor device and the initial further ultrasonic sensor device themselves. Consequently, the complexity of the overall system for controlling the ultrasonic sensor system, in particular the number of required computing units external to the ultrasonic sensor devices themselves, may be reduced significantly.

[0024] According to several implementations, a data terminal of the electronic control unit of the motor vehicle, for example of the ultrasonic sensor system, is connected to the first data terminal of the initial ultrasonic sensor device, in particular directly, and to the first data terminal of the initial further ultrasonic sensor device, in particular directly. The initialization command is transmitted to the initial ultrasonic sensor device by the electronic control unit, in particular via the data terminal of the electronic control unit and the first data terminal of the initial ultrasonic sensor device, and to the initial further electronic sensor device, in particular by the data terminal of the electronic control unit and the first data terminal of the initial further ultrasonic sensor device.

[0025] For example, the electronic control unit may be implemented as a body control unit, BCU, also denoted as body control module, BCM. The electronic control unit may also be implemented as a zone control unit, ZCU, or as a domain control unit, DCU.

[0026] According to several implementations, information, which indicates that the set of ultrasonic sensor devices is mounted according to the first mounting region or, which indicates that the first address is assigned to the initial ultrasonic sensor device, is transmitted by the initial ultrasonic sensor device to the electronic control unit. According to several implementations, further information, which indicates that the further set of ultrasonic sensor devices is mounted according to the second mounting region or, which indicates that the second address is assigned to the initial further ultrasonic sensor device, is transmitted by the initial further ultrasonic sensor device to the electronic control unit. According to several implementations, the set of ultrasonic sensor devices is operated at least in part by the electronic control unit depending on the transmitted information and / or by the initial ultrasonic sensor device depending on the assigned first address.

[0027] According to several implementations, the further set of ultrasonic sensor devices is operated at least in part by the electronic control unit depending on the transmitted further information and / or by the initial further ultrasonic sensor device depending on the assigned second address.

[0028] Operating the set of ultrasonic sensor devices may for example comprise controlling the set of ultrasonic sensor devices to emit ultrasonic waves in their respective environment and / or to receive corresponding sensor signals based on detected reflected portions of the emitted ultrasonic waves and / or detecting one or more objects in the respective environment of the set of ultrasonic sensor devices. Operating the further set of ultrasonic sensor devices may for example comprise controlling the further set of ultrasonic sensor devices to emit ultrasonic waves in their respective environment and / or to receive corresponding further sensor signals based on detected reflected portions of the emitted ultrasonic waves and / or detecting one or more further objects in the respective environment of the further set of ultrasonic sensor devices.

[0029] According to at least one implementation, a predefined preliminary address is assigned to the initial ultrasonic sensor device, for example by the electronic control unit, and the preliminary address, in particular the same preliminary address, is assigned to the initial further ultrasonic sensor device, in particular by the electronic control unit. For assigning the first address to the initial ultrasonic sensor device, the preliminary address is verified for the initial ultrasonic sensor device depending on the first electric voltage, in particular by the initial ultrasonic sensor device. For assigning the second address to the initial further ultrasonic sensor device, the preliminary address is falsified for the initial further ultrasonic sensor device depending on the second electric voltage, in particular by the initial further ultrasonic sensor device. Alternatively, for assigning the first address to the initial ultrasonic sensor device, the preliminary address is falsified for the initial ultrasonic sensor device depending on the first electric voltage, in particular by the initial ultrasonic sensor device, and for assigning the second address to the initial further ultrasonic sensor device, the preliminary address is verified for the initial further ultrasonic sensor device depending on the second electric voltage, in particular by the initial further ultrasonic sensor device.

[0030] In other words, the preliminary address is either identical to the first address or to the second address and is initially assigned to both the initial ultrasonic sensor device as well as the initial further ultrasonic sensor device. If the preliminary address is identical to the first address, the preliminary address correct for the initial ultrasonic sensor device and wrong for the initial further ultrasonic sensor device, which is determined based on the electric voltages applied at the second data terminals of the final ultrasonic sensor device and the final further ultrasonic sensor device, respectively, respectively. On the other hand, if the preliminary address is identical to the second address, the preliminary address correct for the initial further ultrasonic sensor device and wrong for the initial ultrasonic sensor device. Consequently, the initial ultrasonic sensor device or the initial further ultrasonic sensor device is reconfigured to assign the correct one of the first and second address, if necessary.

[0031] According to a further aspect of the invention, a method for detecting one or more objects in an environment of a motor vehicle is provided. Therein, a method for identifying a mounting topology of an ultrasonic sensor system of the motor vehicle according to the invention is carried out during an initialization phase. During an operation phase after the initialization phase, an object in an environment of the first mounting region is detected by controlling the set of ultrasonic sensor devices and / or a further object in an environment of the second mounting region is detected by controlling the further set of ultrasonic sensor devices.

[0032] Since the mounting topology of the ultrasonic sensor system has been identified according to the invention, the location of the object and the further object with respect to the motor vehicle may be interpreted correctly.

[0033] According to a further aspect of the invention, a method for guiding a motor vehicle at least in part automatically is provided. Therein, a method for detecting one or more objects in an environment of the motor vehicle according to the invention is carried out. At least one control signal for guiding the motor vehicle at least in part automatically is generated depending on the detected object and / or depending on the detected further object. Alternatively or in addition, a driver assistance information is generated depending on the detected object and / or depending on the detected further object.

[0034] The at least one control signal may for example be provided to one or more actuators of the motor vehicle, including for example one or more braking actuators and / or one or more steering actuators and / or one or more propulsion motors of the motor vehicle. The one or more actuators may affect a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least in part automatically.

[0035] The driver assistance information may be output by means of an output device of the motor vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0036] For use cases or use situations which may arise in the methods and which are not explicitly described here, it may be provided that, in accordance with the methods, an error message and / or a prompt for user feedback is output and / or a default setting and / or a predetermined initial state is set.

[0037] According to a further aspect of the invention, an ultrasonic sensor system for a motor vehicle is provided. The ultrasonic sensor system comprises a set of ultrasonic sensor devices, which contains an initial ultrasonic sensor device and a final ultrasonic sensor device. The ultrasonic sensor system comprises a further set of ultrasonic sensor devices, which contains an initial further ultrasonic sensor device and a final further ultrasonic sensor device. A first data terminal of the final ultrasonic sensor device is connected to a second data terminal of the initial ultrasonic sensor device. A first data terminal of the final further ultrasonic sensor device is connected to a second data terminal of the initial further ultrasonic sensor device.

[0038] The initial ultrasonic sensor device is configured to receive an initialization command at a first data terminal of the initial ultrasonic sensor device, and to determine, in response to the initialization command, a first electric voltage, which is applied at a second data terminal of the final ultrasonic sensor device. The initial ultrasonic sensor device is configured to assign a first address according to a predefined first mounting region at the motor vehicle to the initial ultrasonic sensor device, in other words to itself, depending on the first electric voltage. The initial further ultrasonic sensor device is configured to receive the initialization command at a first data terminal of the initial further ultrasonic sensor device and to determine, in response to the initialization command, a second electric voltage, which is applied at a second data terminal of the final further ultrasonic sensor device. The initial further ultrasonic sensor device is configured to assign a second address according to a predefined second mounting region at the motor vehicle to the initial further ultrasonic sensor device or, in other words, to itself, depending on the second electric voltage.

[0039] For example, each ultrasonic sensor device of the set of ultrasonic sensor devices and of the further set of ultrasonic sensor devices may comprise a first supply terminal, at which a first supply voltage, for example the first electric voltage, is applied. Furthermore, each of the ultrasonic sensor devices of the set of ultrasonic sensor devices and of the further set of ultrasonic sensor devices may comprise a second supply terminal, at which a second supply voltage, for example zero or the second electric voltage, is applied.

[0040] According to several implementations, the set of ultrasonic sensor devices consists of the initial ultrasonic sensor device and the final ultrasonic sensor device. The first data terminal of the final ultrasonic sensor device is connected directly to the second data terminal of the initial ultrasonic sensor device.

[0041] According to several implementations, the further set of ultrasonic sensor devices consists of the initial further ultrasonic sensor device and the final further ultrasonic sensor device. The first data terminal of the final further ultrasonic sensor device is connected directly to the second data terminal of the initial further ultrasonic sensor device.

[0042] According to several implementations, the set of ultrasonic sensor devices consists of a sequence of three or more ultrasonic sensor devices including the initial ultrasonic sensor device and the final ultrasonic sensor device. A respective first data terminal of each ultrasonic sensor device of the sequence, except for the initial ultrasonic sensor device, is connected, in particular directly, to a respective second data terminal of a preceding ultrasonic sensor device of the sequence.

[0043] It follows implicitly that a respective second data terminal of each ultrasonic sensor device of the sequence, except for the final ultrasonic sensor device, is connected, in particular directly, to a respective first data terminal of a subsequent ultrasonic sensor device of the sequence.

[0044] According to several implementations, the further set of ultrasonic sensor devices consists of a further sequence of three or more ultrasonic sensor devices including the initial further ultrasonic sensor device and the final further ultrasonic sensor device. A respective first data terminal of each ultrasonic sensor device of the further sequence, except for the initial further ultrasonic sensor device, is connected, in particular directly, to a respective second data terminal of a preceding ultrasonic sensor device of the further sequence.

[0045] It follows implicitly that a respective second data terminal of each ultrasonic sensor device of the further sequence, except for the final further ultrasonic sensor device, is connected, in particular directly, to a respective first data terminal of a subsequent ultrasonic sensor device of the further sequence.

[0046] According to several implementations, each ultrasonic sensor device of the set of ultrasonic sensor devices comprises a respective switch element, which connects the first data terminal of the respective ultrasonic sensor device switchably to the second data terminal of the respective ultrasonic sensor device. According to several implementations, each ultrasonic sensor device of the further set of ultrasonic sensor devices comprises a respective switch element, which connects the first data terminal of the respective ultrasonic sensor device switchably to the second data terminal of the respective ultrasonic sensor device.

[0047] Therein, a switchable connection can for example be understood such that the connection can be selectively closed or opened by means of the respective switch element. By opening and closing the corresponding switch elements, the initial ultrasonic sensor device can reach and communicate with each of the remaining ultrasonic sensor devices of the set of ultrasonic sensor devices. In particular, by closing all switch elements of the ultrasonic sensor devices of the set of ultrasonic sensor devices, the initial ultrasonic sensor device can determine the first electric voltage applied at the second data terminal of the final ultrasonic sensor device. Analogously, by opening and closing the corresponding switch elements, the initial further ultrasonic sensor device can reach and communicate with each of the remaining ultrasonic sensor devices of the further set of ultrasonic sensor devices. In particular, by closing all switch elements of the ultrasonic sensor devices of the further set of ultrasonic sensor devices, the initial further ultrasonic sensor device can determine the second electric voltage applied at the second data terminal of the final further ultrasonic sensor device.

[0048] According to several implementations, the ultrasonic sensor system comprises an electronic control unit for the motor vehicle. A data terminal of the electronic control unit is connected to the first data terminal of the initial ultrasonic sensor device and to the first data terminal of the initial further ultrasonic sensor device. The electronic control unit is configured to transmit, in particular to generate and transmit, the initialization command to the initial ultrasonic sensor device and to the initial further ultrasonic sensor device.

[0049] According to several implementations, the data terminal of the electronic control unit is implemented as a terminal for a serial communication bus, for example for a local interconnect network, LIN.

[0050] For example, the respective first and second data terminals of the ultrasonic sensor devices of the set of ultrasonic sensor devices as well as the first and second data terminals of the ultrasonic sensor devices of the further set of ultrasonic sensor devices may also be implemented as respective terminals for the serial communication bus or for the LIN. According to several implementations, the ultrasonic sensor system comprises at least one computing unit. Each ultrasonic sensor device of the set of ultrasonic sensor devices is configured to detect ultrasonic waves and generate a respective sensor signal depending on the detected ultrasonic waves. The at least one computing unit is configured to detect an object in the environment of the first mounting region depending on the sensor signals.

[0051] According to several implementations, each ultrasonic sensor device of the further set of ultrasonic sensor devices is configured to detect ultrasonic waves and generate a respective further sensor signal depending on the detected ultrasonic waves. The at least one computing unit is configured to detect a further object in an environment of the second mounting region depending on the further sensor signals.

[0052] A computing unit may in particular be understood as a data processing device, which comprises processing circuitry. The computing unit can therefore in particular process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table, LUT.

[0053] In particular, the computing unit may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0054] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0055] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a nonvolatile 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. In some implementations, the at least one computing unit of the ultrasonic sensor system may comprise the electronic control unit of the ultrasonic sensor system.

[0056] Further implementations of the ultrasonic sensor system according to the invention follow directly from the various embodiments of the methods according to the invention and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various implementations of the methods according to the invention can be transferred analogously to corresponding implementations 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 a method according to the invention.

[0057] According to a further aspect of the invention, an electronic vehicle guidance system for a motor vehicle is provided. The electronic vehicle guidance system comprises an ultrasonic sensor system according to the invention. The at least one computing unit of the ultrasonic sensor system is configured to generate at least one control signal for guiding the motor vehicle at least in part automatically depending on the detected object and / or depending on the detected further object. Alternatively or in addition, the at least one computing unit is configured to generate a driver assistance information depending on the detected object and / or depending on the detected further object.

[0058] An electronic vehicle guidance system may be understood as an electronic system, configured to guide a vehicle in a fully automated or a fully autonomous manner and, in particular, without a manual intervention or control by a driver or user of the vehicle being necessary. The vehicle carries out all required functions, such as steering maneuvers, deceleration maneuvers and / or acceleration maneuvers as well as monitoring and recording the road traffic and corresponding reactions automatically. In particular, the electronic vehicle guidance system may implement a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. An electronic vehicle guidance system may also be implemented as an advanced driver assistance system, ADAS, assisting a driver for partially automatic or partially autonomous driving. In particular, the electronic vehicle guidance system may implement a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and in the following, SAE J3016 refers to the respective standard dated April 2021 . Guiding the vehicle at least in part automatically may therefore comprise guiding the vehicle according to a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. Guiding the vehicle at least in part automatically may also comprise guiding the vehicle according to a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification

[0059] According to a further aspect of the invention, a motor vehicle is provided, which comprises an ultrasonic sensor system according to the invention or an electronic vehicle guidance system according to the invention. At least a part of the set of ultrasonic sensor devices is mounted at a front bumper of the motor vehicle and / or at least a part of the set ultrasonic sensor devices is mounted at a grille of the motor vehicle and / or at least a part of the set of ultrasonic sensor devices is mounted at a first sill of the motor vehicle and / or at least a part of the set of ultrasonic sensor devices is mounted at a first wheel housing of the motor vehicle.

[0060] According to several implementations, at least a part of the further set of ultrasonic sensor devices is mounted at a rear bumper of the motor vehicle and / or at least a part of the further set of ultrasonic sensor devices is mounted at a second sill of the motor vehicle and / or at least a part of the further set of ultrasonic sensor devices is mounted at a second wheel housing of the motor vehicle.

[0061] Further features of the invention are apparent from the claims, the figures and the figure description. 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 figures and / or shown in the figures may be comprised by the invention not only in the respective combination stated, but also in other combinations. In particular, embodiments and combinations of features, which do not have all the features of an originally formulated claim, may also be comprised by the invention. Moreover, embodiments and combinations of features, which go beyond or deviate from the combinations of features set forth in the recitations of the claims may be comprised by the invention.

[0062] In the following, the invention will be explained in detail with reference to specific exemplary implementations and respective schematic drawings. In the drawings, identical or functionally identical elements may be denoted by the same reference signs. The description of identical or functionally identical elements is not necessarily repeated with respect to different figures. In the figures,

[0063] Fig. 1 shows a schematic front view of a motor vehicle with an exemplary implementation of an ultrasonic sensor system according to the invention;

[0064] Fig. 2 shows a schematic rear view of the motor vehicle of Fig. 1 ;

[0065] Fig. 3 shows a schematic block diagram of a further exemplary implementation of an ultrasonic sensor system according to the invention; and

[0066] Fig. 4 shows a schematic block diagram of a further exemplary implementation of an ultrasonic sensor system according to the invention.

[0067] Fig. 1 shows schematically a front view of a motor vehicle 1 , which comprises an exemplary implementation of an ultrasonic sensor system 6 (see Fig. 3 and Fig. 4) according to the invention. Fig. 2 shows a schematic rear view of the same motor vehicle 1 .

[0068] The ultrasonic sensor system 6 comprises a set of ultrasonic sensor devices, which contains an initial ultrasonic sensor device 3a and a final ultrasonic sensor device 3d. the ultrasonic sensor system 6 comprises a further set of ultrasonic sensor devices 4a, 4b, 4c, 4d, which contains an initial further ultrasonic sensor device 4a and a final further ultrasonic sensor device 4d. In the figures Fig. 1 and Fig. 2, the set of ultrasonic sensor devices further comprises two intermediate ultrasonic sensor devices 3b, 3c and the further set of ultrasonic sensor devices comprises two intermediate further ultrasonic sensor devices 4b, 4c. The number of ultrasonic sensor devices per set or further set of ultrasonic sensor devices is, however, not limited to the specific examples shown in the figures.

[0069] Fig. 3 shows a schematic block diagram of an exemplary implementation of the ultrasonic sensor system 6, where the set of ultrasonic sensor devices consists of the initial ultrasonic sensor device 3a and the final ultrasonic sensor device 3d and the further set of ultrasonic sensor devices consists of the initial further ultrasonic sensor device 4a and the final further ultrasonic sensor device 4d. In Fig. 4, a schematic block diagram of a further exemplary implementation of the ultrasonic sensor system 6 is shown, wherein the set of ultrasonic sensor devices consists of the initial ultrasonic sensor device 3a, the two intermediate ultrasonic sensor devices 3b, 3c and the final ultrasonic sensor device 3d. The further set of ultrasonic sensor devices consists of the initial further ultrasonic sensor device 4a, the two intermediate further ultrasonic sensor devices 4b, 4c and the final further ultrasonic sensor device 4d.

[0070] The set of ultrasonic sensor devices is mounted at a first mounting region of the motor vehicle 1 , for example at a front bumper 19 and / or a grille 21 of the motor vehicle 1 . The further set of ultrasonic sensor devices is mounted at a second mounting region of the motor vehicle 1 , for example at a rear bumper 20 of the motor vehicle 1 . The motor vehicle 1 , in some implementations the ultrasonic sensor system 6, comprises an electronic control unit 7 with a supply terminal 8, which is connected to a non-zero supply voltage, and a ground terminal 9, which is connected to a ground potential or to zero voltage, respectively. Furthermore, the electronic control unit 7 comprises a data terminal 10, for example a LIN terminal. Each ultrasonic sensor device 3a, 3b, 3c, 3d of the set of ultrasonic sensor devices comprises a respective supply terminal 11a, 11b, 11c, 11d, which is connected to the supply voltage as well as a respective ground terminal 12a, 12b, 12c, 12d, which is connected to the ground potential. Each ultrasonic sensor device 3a, 3b, 3c, 3d of the set of ultrasonic sensor devices comprises a respective first data terminal 13a, 13b, 13c, 13d, which may for example be LIN terminals, and a respective second data terminal 14a, 14b, 14c, 14d, which may for example be LIN terminals. Each ultrasonic sensor device 4a, 4b, 4c, 4d of the further set of ultrasonic sensor devices comprises a respective supply terminal 15a, 15b, 15c, 15d, which is connected to the supply voltage as well as a respective ground terminal 16a, 16b, 16c, 16d, which is connected to the ground potential. Each ultrasonic sensor device 4a, 4b, 4c, 4d of the further set of ultrasonic sensor devices comprises a respective first data terminal 17a, 17b, 17c, 17d, which may for example be LIN terminals, and a respective second data terminal 18a, 18b, 18c, 18d, which may for example be LIN terminals.

[0071] The first data terminal 13d of the final ultrasonic sensor device 3d is connected to the second data terminal 14a of the initial ultrasonic sensor device 3a. In the implementation of Fig. 3, said connection is a direct connection. In the implementation of Fig. 4, said connection is an indirect connection via the intermediate ultrasonic sensor devices 3b, 3c. In particular, the first data terminal 13d of the final ultrasonic sensor device 3d is directly connected to the second data terminal 14c of the intermediate ultrasonic sensor device 3c, the first data terminal 13c of the intermediate ultrasonic sensor device 3c is directly connected to the second data terminal 14b of the intermediate ultrasonic sensor device 3b, and the first data terminal 13b of the intermediate ultrasonic sensor device 3b is directly connected to the second data terminal 14a of the initial ultrasonic sensor device 3a.

[0072] The first data terminal 17d of the final further ultrasonic sensor device 4d is connected to the second data terminal 18a of the initial further ultrasonic sensor device 4a. In the implementation of Fig. 3, said connection is a direct connection. In the implementation of Fig. 4, said connection is an indirect connection via the intermediate further ultrasonic sensor devices 4b, 4c. In particular, the first data terminal 17d of the final further ultrasonic sensor device 4d is directly connected to the second data terminal 18c of the intermediate further ultrasonic sensor device 4c, the first data terminal 17c of the intermediate further ultrasonic sensor device 4c is directly connected to the second data terminal 18b of the intermediate further ultrasonic sensor device 4b, and the first data terminal 17b of the intermediate further ultrasonic sensor device 4b is directly connected to the second data terminal 18a of the initial further ultrasonic sensor device 4a.

[0073] Each first data terminal 13a, 13b, 13c, 13d, 17a, 17b, 17c, 17d of the ultrasonic sensor devices 3a, 3b, 3c, 3d, 4a, 4b, 4c, 4d is switchably connected via a respective switch element to the second data terminal 14a, 14b, 14c, 14d, 18a, 18b, 18c, 18d of the same ultrasonic sensor device 3a, 3b, 3c, 3d, 4a, 4b, 4c, 4d. Furthermore, the second data terminal 14d of the final ultrasonic sensor device 3d is connected to the supply voltage and the second data terminal 18d of the final further ultrasonic sensor device 4d is connected to the ground potential.

[0074] After startup of the ultrasonic sensor system 6, the electronic control unit 7 generates and transmits an initialization command at the data terminal 10 to the first data terminals 13a, 17a of the initial ultrasonic sensor device 3a and the initial further ultrasonic sensor device 4a. In response to the initialization command, the initial ultrasonic sensor device 3a instructs the remaining ultrasonic sensor devices 3b, 3c, 3d of the set of ultrasonic sensor devices to close the respective switches in order to read or detect the voltage applied at the second data terminal 14d of the final ultrasonic sensor device 3d and determines that it is the supply voltage. The initial ultrasonic sensor device 3a assigns a first address according to the first mounting region to the initial ultrasonic sensor device 3a based on the detected supply voltage. Furthermore, in response to the initialization command, the initial further ultrasonic sensor device 4a instructs the remaining ultrasonic sensor devices 4b, 4c, 4d of the further set of ultrasonic sensor devices to close the respective switches in order to read or detect the voltage applied at the second data terminal 18d of the final further ultrasonic sensor device 4d and determines that it is zero. The initial further ultrasonic sensor device 4a assigns a second address according to the second mounting region to the initial further ultrasonic sensor device 4a based on the detected zero voltage.

[0075] For example, initially a predefined preliminary address, for example the first address, may be assigned to both, the initial ultrasonic sensor device 3a and the initial further ultrasonic sensor device 4a. Then, after the initial ultrasonic sensor device 3a has determined that the supply voltage is applied at the second data terminal 14d of the final ultrasonic sensor device 3d, it verifies that the preliminary address is the correct address. On the other hand, after the initial further ultrasonic sensor device 4a has determined that the second data terminal 18d of the final further ultrasonic sensor device is connected to the ground potential, it falsifies the preliminary address for the initial further ultrasonic sensor device 4a and readdresses itself according to the second address.

[0076] In some implementations, the ultrasonic sensor system 6 may be part of an electronic vehicle guidance system 2 of the motor vehicle 1 . The electronic vehicle guidance system 2 comprises at least one computing unit 5, which may for example also include the electronic control unit 7.

[0077] After the first address has been assigned to the initial ultrasonic sensor device 3a and the second address has been assigned to the initial further ultrasonic sensor device 4a, the ultrasonic sensor system 6 may be operated in a normal operation mode. Therein, the ultrasonic sensor devices 3a, 3b, 3c, 3d, 4a, 4b, 4c, 4d may emit ultrasonic waves and detect reflected portions of the ultrasonic waves and generate respective sensor signals based on the detected reflected portions. The at least one computing unit 5 may detect one or more objects in the environment of the first mounting region, in particular in the environment of the front bumper 19 and / or the grille 21 , based on the sensor signals received from the set of ultrasonic sensor devices 3a, 3b, 3c, 3d. Furthermore, the at least one computing unit 5 may detect one or more further objects in the environment of the second mounting region, in particular in the environment of the rear bumper 20, based on the sensor signals received from the further set of ultrasonic sensor devices 4a, 4b, 4c, 4d.

[0078] The at least one computing unit 5 is configured to generate at least one control signal for guiding the motor vehicle 1 at least in part automatically depending on the detected object and / or the detected further objects. Alternatively or in addition, the at least one computing unit 5 is configured to generate driver assistance information depending on the detected object and / or the detected further object. As described, in particular with respect to the figures, the invention allows to identify the mounting topology of an ultrasonic sensor system in a reliable manner. The invention may lead to several advantages from a hardware and / or a software point of view. In particular, only a single data terminal is required at the electronic control unit to control all ultrasonic sensor devices of the ultrasonic sensor system. Furthermore, the electronic control unit may need to run only a single scheduler to control all ultrasonic sensor devices of the ultrasonic sensor system. Furthermore, the same type of ultrasonic sensor devices and ultrasonic sensor devices, which are configured in the same way may be used for all mounting regions at the motor vehicle.

Claims

Claims1 . Method for identifying a mounting topology of an ultrasonic sensor system (6) of a motor vehicle (1 ), the ultrasonic sensor system (6) comprising a set of ultrasonic sensor devices (3a, 3b, 3c, 3d), which contains an initial ultrasonic sensor device (3a) and a final ultrasonic sensor device (3d), and a further set of ultrasonic sensor devices (4a, 4b, 4c, 4d), which contains an initial further ultrasonic sensor device (4a) and a final further ultrasonic sensor device (4d), wherein a first data terminal (13d) of the final ultrasonic sensor device (3d) is connected to a second data terminal (14a) of the initial ultrasonic sensor device (3a); a first data terminal (17d) of the final further ultrasonic sensor device (4d) is connected to a second data terminal (18a) of the initial further ultrasonic sensor device (4a); an initialization command is received by the initial ultrasonic sensor device (3a) and by the initial further ultrasonic sensor device (4a); in response to the initialization command, a first electric voltage, which is applied at a second data terminal (14d) of the final ultrasonic sensor device (3d), is determined by the initial ultrasonic sensor device (3a); in response to the initialization command, a second electric voltage, which is applied at a second data terminal (18d) of the final further ultrasonic sensor device (4d), is determined by the initial further ultrasonic sensor device (4a); a first address according to a predefined first mounting region (19, 21) at the motor vehicle (1) is assigned to the initial ultrasonic sensor device (3a) depending on the first electric voltage and a second address according to a predefined second mounting region (20) at the motor vehicle (1 ) is assigned to the initial further ultrasonic sensor device (4a) depending on the second electric voltage.

2. Method according to claim 1 , wherein a data terminal (10) of an electronic control unit (7) of the motor vehicle (1 ) is connected to a first data terminal (13a) of the initial ultrasonic sensor device (3a)and to a first data terminal (17a) of the initial further ultrasonic sensor device (4a); and the initialization command is transmitted to the initial ultrasonic sensor device (3a) and to the initial further ultrasonic sensor device (4a) by the electronic control unit (7).

3. Method according to one of the preceding claims, wherein a predefined preliminary address is assigned to the initial ultrasonic sensor device (3a) and the preliminary address is assigned to the initial further ultrasonic sensor device (4a), for assigning the first address to the initial ultrasonic sensor device (3a), the preliminary address is verified for the initial ultrasonic sensor device (3a) depending on the first electric voltage and for assigning the second address to the initial further ultrasonic sensor device (4a), the preliminary address is falsified for the initial further ultrasonic sensor device (4a) depending on the second electric voltage; or for assigning the first address to the initial ultrasonic sensor device (3a), the preliminary address is falsified for the initial ultrasonic sensor device (3a) depending on the first electric voltage and for assigning the second address to the initial further ultrasonic sensor device (4a), the preliminary address is verified for the initial further ultrasonic sensor device (4a) depending on the second electric voltage.

4. Method for detecting one or more objects in an environment of a motor vehicle (1), wherein a method for identifying a mounting topology of an ultrasonic sensor system (6) of the motor vehicle (1) according to one of the preceding claims is carried out during an initialization phase; during an operation phase after the initialization phase, an object in an environment of the first mounting region (19, 21) is detected by controlling the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) and / or a further object in an environment of the second mounting region (20) is detected by controlling the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d).

5. Method for guiding a motor vehicle (1) at least in part automatically, wherein a method according to claim 4 is carried out;at least one control signal for guiding the motor vehicle (1 ) at least in part automatically is generated depending on the detected object and / or depending on the detected further object; and / or a driver assistance information is generated depending on the detected object and / or depending on the detected further object.

6. Ultrasonic sensor system (6) for a motor vehicle (1 ) comprising a set of ultrasonic sensor devices (3a, 3b, 3c, 3d), which contains an initial ultrasonic sensor device (3a) and a final ultrasonic sensor device (3d), and a further set of ultrasonic sensor devices (4a, 4b, 4c, 4d), which contains an initial further ultrasonic sensor device (4a) and a final further ultrasonic sensor device (4d), wherein a first data terminal (13d) of the final ultrasonic sensor device (3d) is connected to a second data terminal (14a) of the initial ultrasonic sensor device (3a); a first data terminal (17d) of the final further ultrasonic sensor device (4d) is connected to a second data terminal (18a) of the initial further ultrasonic sensor device (4a); the initial ultrasonic sensor device (3a) is configured to receive an initialization command at a first data terminal (13a) of the initial ultrasonic sensor device (3a), to determine, in response to the initialization command, a first electric voltage, which is applied at a second data terminal (14d) of the final ultrasonic sensor device (3d) and to assign a first address according to a predefined first mounting region (19, 21 ) at the motor vehicle (1 ) to the initial ultrasonic sensor device (3a) depending on the first electric voltage; and the initial further ultrasonic sensor device (4a) is configured to receive the initialization command at a first data terminal (17a) of the initial further ultrasonic sensor device (4a), to determine, in response to the initialization command, a second electric voltage, which is applied at a second data terminal (18d) of the final further ultrasonic sensor device (4d) and to assign a second address according to a predefined second mounting region (20) at the motor vehicle (1 ) to the initial further ultrasonic sensor device (4a) depending on the second electric voltage.

7. Ultrasonic sensor system (6) according to claim 6, wherein the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) consists of the initial ultrasonic sensor device (3a) and the final ultrasonic sensor device (3d), and the first dataterminal (13d) of the final ultrasonic sensor device (3d) is connected directly to the second data terminal (14a) of the initial ultrasonic sensor device (3a); and / or the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d) consists of the initial further ultrasonic sensor device (4a) and the final further ultrasonic sensor device (4d), and the first data terminal (17d) of the final further ultrasonic sensor device (4d) is connected directly to the second data terminal (18a) of the initial further ultrasonic sensor device (4a).

8. Ultrasonic sensor system (6) according to claim 6, wherein the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) consists of a sequence of three or more ultrasonic sensor devices (3a, 3b, 3c, 3d) including the initial ultrasonic sensor device (3a) and the final ultrasonic sensor device (3d); and a respective first data terminal (13b, 13c, 13d) of each ultrasonic sensor device (3b, 3c, 3d) of the sequence, except for the initial ultrasonic sensor device (3a), is connected to a respective second data terminal (14a, 14b, 14c) of a preceding ultrasonic sensor device (3a, 3b, 3c) of the sequence.

9. Ultrasonic sensor system (6) according to one of claims 6 or 8, wherein the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d) consists of a further sequence of three or more further ultrasonic sensor devices (4a, 4b, 4c, 4d) including the initial further ultrasonic sensor device (4a) and the final further ultrasonic sensor device (4d); and a respective first data terminal (17b, 17c, 17d) of each ultrasonic sensor device (4b, 4c, 4d) of the further sequence, except for the initial further ultrasonic sensor device (3a), is connected to a respective second data terminal (18a, 18b, 18c) of a preceding ultrasonic sensor device (4a, 4b, 4c) of the further sequence.

10. Ultrasonic sensor system (6) according to one of claims 6 to 9, wherein each ultrasonic sensor device of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) comprises a respective switch element, which connects the first data terminal (13a, 13b, 13c, 13d) of the respective ultrasonic sensor device switchably to the second data terminal (14a, 14b, 14c, 14d) of the respective ultrasonic sensor device; and / or each ultrasonic sensor device of the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d) comprises a respective switch element, which connects the first data terminal (17a, 17b, 17d) of the respective ultrasonic sensor device switchably to thesecond data terminal (18a, 18b, 18c, 18d) of the respective ultrasonic sensor device.11 . Ultrasonic sensor system (6) according to one of claims 6 to 10 comprising an electronic control unit (7) for the motor vehicle (1 ), wherein a data terminal (10) of the electronic control unit (7) is connected to the first data terminal of the initial ultrasonic sensor device (3a) and to the first data terminal of the initial further ultrasonic sensor device (4a); and the electronic control unit (7) is configured to transmit the initialization command to the initial ultrasonic sensor device (3a) and to the initial further ultrasonic sensor device (4a).

12. Ultrasonic sensor system (6) according to claim 11 , wherein the data terminal (10) of the electronic control unit (7) is implemented as a terminal for a serial communication bus or for a local interconnect network.

13. Ultrasonic sensor system (6) according to one of claims 6 to 12 comprising at least one computing unit (5, 7), wherein each ultrasonic sensor device of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is configured to detect ultrasonic waves and generate a respective sensor signal depending on the detected ultrasonic waves and the at least one computing unit (5, 7) is configured to detect an object in an environment of the first mounting region (19, 21) depending on the sensor signals; and / or each ultrasonic sensor device of the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d) is configured to detect ultrasonic waves and generate a respective further sensor signal depending on the detected ultrasonic waves and the at least one computing unit (5, 7) is configured to detect a further object in an environment of the second mounting region (20) depending on the further sensor signals.

14. Electronic vehicle guidance system (2) for a motor vehicle (1 ) comprising an ultrasonic sensor system (6) according to claim 13, wherein the at least one computing unit (5, 7) is configured to generate at least one control signal for guiding the motor vehicle (1) at least in part automatically depending on the detected object and / or depending on the detected further object; and / orgenerate a driver assistance information depending on the detected object and / or depending on the detected further object.

15. Motor vehicle (1) comprising an ultrasonic sensor system (6) according to one of claims 6 to 13 or an electronic vehicle guidance system (2) according to claim 14, wherein at least a part of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a front bumper (19) of the motor vehicle (1) and / or at least a part of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a grille (21) of the motor vehicle (1) and / or at least a part of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a first sill of the motor vehicle (1) and / or at least a part of the set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a first wheel housing of the motor vehicle (1 ); and / or and / or at least a part of the further set of ultrasonic sensor devices (4a, 4b, 4c, 4d) is mounted at a rear bumper (20) of the motor vehicle (1 ) and / or at least a part of the further set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a second sill of the motor vehicle (1) and / or at least a part of the further set of ultrasonic sensor devices (3a, 3b, 3c, 3d) is mounted at a second wheel housing of the motor vehicle (1).

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