WO2012016841A1 - Method and apparatus for generating a measurement signal for detecting the surroundings of a vehicle and associated apparatus for detecting the surroundings of a vehicle - Google Patents

Method and apparatus for generating a measurement signal for detecting the surroundings of a vehicle and associated apparatus for detecting the surroundings of a vehicle Download PDF

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Publication number
WO2012016841A1
WO2012016841A1 PCT/EP2011/062502 EP2011062502W WO2012016841A1 WO 2012016841 A1 WO2012016841 A1 WO 2012016841A1 EP 2011062502 W EP2011062502 W EP 2011062502W WO 2012016841 A1 WO2012016841 A1 WO 2012016841A1
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WO
WIPO (PCT)
Prior art keywords
signal
measurement signal
measurement
coding
vehicle
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Application number
PCT/EP2011/062502
Other languages
German (de)
French (fr)
Inventor
Thomas Jung
Dietmar Gruedl
Michael Hallek
Original Assignee
Valeo Schalter Und Sensoren Gmbh
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Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Priority to JP2013522189A priority Critical patent/JP2013535680A/en
Priority to EP11745733.3A priority patent/EP2601541A1/en
Publication of WO2012016841A1 publication Critical patent/WO2012016841A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G01S15/105—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics using irregular pulse repetition frequency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H04Q9/14—Calling by using pulses

Definitions

  • the invention relates to a method for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 1, and an associated device for generating a measurement signal for vehicle environment detection and a device for vehicle environment detection.
  • Known devices for vehicle environment detection are used in driver assistance systems, such as a parking aid system, a blind spot monitoring system, a lane change system, etc., usually for the detection of objects or obstacles in the vehicle environment and work, for example in the ultrasonic frequency range.
  • a measurement signal with a predefinable pulse repetition interval, a predefinable chest length and a predefinable signal frequency are transmitted and a resulting echo signal is received and evaluated.
  • the resulting echo signal has useful signal components caused by objects to be detected and noise caused by interference sources as interference signal components.
  • the signal can be coded.
  • coding for example, a specific bit sequence is output by the modulation as a transmission signal.
  • Barker code is used.
  • the use of modulated and coded measuring signals can have the effect that no obstacle can be detected in the vicinity of the vehicle since a resulting echo signal can only be received after the transmission of the measuring signal has ended.
  • the sensor used or the one used is Send / receive unit blind.
  • the larger the modulation or signal length the greater the blind time and thus the lower limit of the measuring range. It is therefore necessary to switch between different measuring ranges, with and without modulation, in order to be able to measure the entire measuring range from very close to far away. This in turn increases the reaction time of the system due to the multiple measurement.
  • the patent US Pat. No. 7,643,376 B2 describes, for example, a method and a device for distance measurement with ultrasonic sensors.
  • a modulated measurement signal is emitted by the ultrasonic sensor and the received echo signal is evaluated with respect to the correlation with the transmitted measurement signal.
  • a short, unmodulated measurement signal can also be transmitted. This unmodulated measurement signal is emitted alternately with the modulated measurement signal and evaluated with respect to its amplitude.
  • Patent specification EP 1 105 749 B1 describes a method and a device for detecting objects, in particular as a parking aid assist device in a motor vehicle.
  • the device described comprises a number of distance sensors, at least one microcontroller controlling the distance sensors and an output unit.
  • the microcontroller controls the distance sensors by a modulation with a time-varying identifier.
  • the identifier can especially at random during operation to avoid mutual interference of the sensors.
  • the object of the invention is a method for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 1, a corresponding device for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 10 and a corresponding device for3.1umfel- age of the
  • the preamble of claim 15 mentioned type to further develop that a flexible adaptation of the transmitted measuring signal to the given circumstances in the vehicle environment is made possible.
  • This object is achieved by a method for generating a measurement signal for vehicle environment detection with the features of claim 1 and by a device for generating a measurement signal for vehicle environment detection with the features of claim 10 and by a device for vehicle environment detection with the features of claim 15.
  • Other embodiments of the invention advantageously embodying features include the dependent claims.
  • the advantage achieved by the invention is that the vehicle environment detection for distance measurement does not work with measurement signals which have a fixed predetermined coding and fixed parameters such as pulse repetition interval, chest length and / or signal frequency, but works with Messsig- signals whose coding and / or parameters can be variably and flexibly specified as a function of current interference signals present in the environment of the vehicle and / or obstacles.
  • the nature and duration of the modulation and / or coding of each distance measurement can be redefined.
  • the basic idea of the invention is based on the fact that, prior to the actual determination of distances to identified obstacles, an uncoded first measurement signal without modulation, ie with a very short transmission duration, is transmitted.
  • the measuring range of the vehicle environment detection is opened by the minimum lower limit and the maximum upper limit.
  • the immunity to interference is minimal, however, so that the distances to detected obstacles can only be estimated.
  • an echo signal is received, which has interference signal components and useful signal components. From this information can be calculated whether or how much a subsequent measurement signal is to be encoded and / or modulated to safely detect obstacles and their distance from the vehicle and to filter out external interference with the greatest possible security.
  • a strongly coded and / or modulated measurement signal with a long transmission duration can be generated and transmitted.
  • the lower limit of the measuring range becomes worse because it is set larger, and the noise immunity is improved.
  • no or only a small coding and / or modulation of the measurement signal can be made to keep the transmission duration of the measurement signal short.
  • the lower limit of the measuring range and the immunity to interference can advantageously be adapted dynamically during operation to the circumstances in the vehicle environment.
  • no switching operations between different measuring ranges are required, whereby an improved lower reaction time of the entire system can be achieved.
  • the measurement signals can be flexibly adapted to the given circumstances with a situation-dependent transmission duration. It can also be quite on the Modulation or coding are omitted if this is not required from the system point of view after evaluation of the first echo signal.
  • an uncoded first measurement signal is emitted before vehicle surroundings detection for determining the current interference signals, and a resulting first echo signal with useful signal components and / or interference signal components is received and evaluated.
  • the transmission duration of the uncoded first measurement signal for determining the current interference signals is predetermined such that a measurement range for vehicle environment detection is maximally open.
  • distances to detected obstacles are estimated from the useful signal components of the resulting resulting echo signal.
  • the strength of detected Störsignalan- parts is determined from the received resulting first echo signal.
  • the length of the encoding of subsequent measurement signals and thus the transmission time duration of subsequent measurement signals is predetermined proportional to the estimated distance to detected obstacles.
  • the length of the coding of subsequent measurement signals and thus the transmission time duration of subsequent measurement signals can be predetermined proportional to the determined strength of the interference signal components.
  • the coding of the subsequent measurement signals is carried out so that distances to detected obstacles can be accurately determined and the noise components can be suppressed.
  • the measurement signal can be modulated for coding, for example, with a predetermined code bit sequence.
  • An inventive device for generating a measurement signal for vehicle environment detection which preferably in Ultrasonic frequency range operates, comprises a transmitting / receiving unit which emits a measurement signal with a predefinable coding, a predetermined pulse repetition interval, a predetermined chest length and a predeterminable signal frequency and receives a resulting echo signal for evaluation.
  • an evaluation and / or control unit is present which predetermines coding and / or parameters of the measurement signal as a function of current interference signals present in the environment of the vehicle and / or obstacles.
  • a signal generator for generating a carrier signal for the measuring signal is provided.
  • a modulation unit is provided for modulating the measurement signal to be transmitted and / or for demodulation of the received echo signal and an encoding unit for encoding the measurement signal to be transmitted and for decoding the received echo signal.
  • the inventive device for generating a measurement signal for vehicle environment detection can be used for example in a device for vehicle environment detection, which preferably operates in the ultrasonic frequency range and comprises at least one transmitting / receiving unit which emits a measuring signal having a predefinable pulse repetition interval, a predefinable chest length and a predeterminable signal frequency and receives a resulting echo signal for evaluation.
  • Fig. 1 is a block diagram of an embodiment of an inventive device for vehicle environment detection.
  • FIG. 2 shows a flow chart of an exemplary embodiment of a method according to the invention for optimizing noise
  • Echo signal for a vehicle environment detection Echo signal for a vehicle environment detection.
  • FIG. 3 is a characteristic diagram of an uncoded first measurement signal and a resulting first echo signal for determining a current vehicle environment in a first environment situation.
  • 4 is a characteristic diagram of a subsequently transmitted encoded measurement signal whose coding and / or parameters are set as a function of the first environment situation.
  • 5 is a characteristic diagram of an uncoded first measurement signal and a resulting first echo signal for determining a current vehicle environment in a second environment situation.
  • FIG. 6 is a characteristic diagram of a subsequently transmitted coded measuring signal, whose coding and / or parameter meter are set depending on the second environment situation.
  • an illustrated exemplary embodiment of a device for vehicle surroundings detection 1 which preferably operates in the ultrasound frequency range, comprises an evaluation and / or control unit 10, a plurality of transceiver units, of which, by way of example, a transceiver unit 20 is shown
  • Modulation unit 30 for modulating a measurement signal 22 to be transmitted and / or for demodulating a received echo signal
  • a coding unit 40 for encoding the measurement signal 22 to be transmitted and for decoding the received echo signal
  • a signal generator 50 for generating a carrier signal for the measurement signal 22 to be transmitted and an output unit 60 for opti- see, acoustic and / or haptic output of determined distances to detected obstacles in the vehicle environment.
  • the transceiver unit 20 transmits the measurement signal 22 generated by the signal generator 50 with a predefinable coding, a predefinable pulse repetition interval, a predefinable chest length and a predefinable signal frequency for vehicle environment detection and receives a resulting echo signal 24 for evaluation.
  • the evaluation and / or control unit 10 predetermines the coding and / or the parameters of the measurement signal 22, such as pulse repetition interval, chest length and / or signal frequency, as a function of current interference signals present in the surroundings of the vehicle and / or obstacles.
  • the evaluation and / or control unit 10 sends an uncoded first measurement signal 22 shown in FIGS. 3 and 5 before the actual vehicle surroundings detection via the transceiver unit 20 and receives a resulting one shown in FIGS. 3 and 5 first echo signal 24 with Nutzsignalan too 24.1 and / or Störsignalan constitution 24.2 for evaluation.
  • the representation in FIG. 3 represents an envelope for a vehicle Environment with strong sources of interference and an obstacle at a great distance.
  • the illustration in FIG. 5 represents an envelope for a vehicle environment without sources of interference and a small distance obstacle.
  • the evaluation and / or control unit 10 specifies the transmission duration t S D of the uncoded first measurement signal 22 for determining the current interference signals in such a way that a measurement range for vehicle environment detection is maximally open.
  • the measuring range of the vehicle environment detection is opened by the minimum lower limit and the maximum upper limit maximum.
  • different first echo signals 24 are received, which can comprise useful signal components 24.1 and interference signal components 24.2. From this information can be calculated whether or how much a subsequent measurement signal 22 ', 22''coded and / or modulated to safely detect obstacles and their distance from the vehicle and to filter out external interference with the greatest possible security.
  • FIG. 3 shows, for example, a large distance to a detected obstacle and a strongly disturbed environment.
  • the evaluation and / or control unit 10 generates, using the modulation unit 30, the coding unit 40 and the signal generator 50, a strongly coded and / or modulated measurement signal 22 'shown in FIG. 4 with a long transmission duration t S D_code and transmits this via the Transceiver 20 off.
  • the lower limit of the measuring range is thereby made worse because it is set larger, and the interference immunity is improved, however, since the interference signal components are almost completely removed from the E-signal.
  • FIG. 5 shows, for example, a small distance to a detected obstacle and an almost undisturbed environment.
  • the evaluation and / or control unit 10 generates, using the modulation unit 30, the coding unit 40 and the signal generator 50, a measurement signal 22 "which is not coded or only slightly coded and / or modulated in FIG. 6 with a short transmission duration t S D_code and sends this via the transmitting / receiving unit 20.
  • no interference signal components are contained in the echo signals 24, 24 / y , which have only groove zignalan parts 24.1, 24.1 / y for determining the short distance to the detected obstacle.
  • step S10 an uncoded first measurement signal 22 having a short transmission duration ts D is transmitted in order to maximally open the measurement range of the vehicle environment detection.
  • step S20 in response to the transmitted first measurement signal 22, a first echo signal 24 is received, which has useful signal components 24.1 and interference signal components 24.2.
  • step S30 distances to detected obstacles are estimated by evaluating the wanted signal portions 24.1 of the received resulting echo signal 24.
  • step S40 the strength of recognized interference signal components 24.2 is determined from the received resulting first echo signal 24.
  • the length of the coding of subsequent measurement signals 22 ', 22 "and thus the transmission duration t S D of subsequent measurement signals 22', 22" may be, for example, proportional to onal to the estimated distance to detected obstacles
  • the coding of the subsequent measurement signal 22 ', 2 2 is carried out so that the distances to identified obstacles can be determined precisely and the interference signal components 24. 2 can be suppressed.
  • step S70 the resulting encoded echo signals 24 ', 2, 4' 'are received and evaluated.
  • Fig. 1 the individual components of the device according to the invention are shown as separate assemblies.
  • the functionalities of several modules can be summarized and executed only by a newly created module.
  • the signal generator 50, the modulation unit 30 and the coding unit 40 can be combined to form a signal generation unit.
  • embodiments of the present invention or individual components described can be realized as a circuit, device, method, data processing program with program code means and / or as a computer program product. Accordingly, the present invention may be implemented entirely as hardware and / or as software and / or as a combination of hardware and / or software components.
  • the present invention may be embodied as a computer program product on a computer usable storage medium having computer readable program code, whereby various computer readable storage media such as hard disks, CD-ROMs, optical or magnetic storage elements, etc. may be used.
  • various computer readable storage media such as hard disks, CD-ROMs, optical or magnetic storage elements, etc. may be used.
  • the modulation and coding of the transmitted measuring signals makes it possible to better distinguish the received echo signals which are transmitted by different transmitting units. As a result, for example, a simultaneous operation of multiple sensors is possible, with a longer measurement signal, a larger number of codes is possible.
  • modulated and coded measuring signals can have the effect that no obstacle can be detected in the vicinity of the vehicle since a resulting echo signal can only be received after the transmission of the measuring signal has ended.
  • the sensor used or the one used is Sending / receiving unit blind.
  • the measurement signals can be flexibly adapted to the given circumstances with a situation-dependent pulse length. It is also possible to completely dispense with the modulation or coding if, from the system point of view, this is not required after evaluation of the first echo signal.

Abstract

The invention relates to a method and an apparatus for generating a measurement signal for detecting the surroundings of a vehicle, which apparatus preferably operates in the ultrasonic frequency range, wherein a measurement signal (22) with predefinable coding, a predefinable pulse repetition interval, a predefinable burst length and a predefinable signal frequency is emitted and a resultant coded echo signal (24) is received and evaluated, and to an apparatus for detecting the surroundings of a vehicle. In order to make it possible to flexibly adapt the measurement signal to be emitted to the given circumstances in the vehicle surroundings, the coding and/or parameters of the measurement signal (22) is/are predefined on the basis of current interference signals and/or obstacles present in the area surrounding the vehicle.

Description

Verfahren und Vorrichtung zu Generierung eines Messsignals zur Fahrzeugumfelderfassung sowie zugehörige Vorrichtung zur Fahrzeugumfelderfassung Method and device for generating a measurement signal for vehicle environment detection and associated device for vehicle environment detection
Die Erfindung betrifft ein Verfahren zur Generierung eines Messsignals zur Fahrzeugumfelderfassung der im Oberbegriff des Anspruchs 1 genannten Art, sowie eine zugehörige Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung und eine Vorrichtung zur Fahrzeugumfelderfassung. The invention relates to a method for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 1, and an associated device for generating a measurement signal for vehicle environment detection and a device for vehicle environment detection.
Bekannte Vorrichtungen zur Fahrzeugumfelderfassung werden in Fahrerassistenzsystemen, wie beispielsweise einem Einparkhil- fesystem, einem Totwinkelüberwachungssystem, einem Spurwechselsystem usw., in der Regel zur Erkennung von Objekten bzw. Hindernissen im Fahrzeugumfeld eingesetzt und arbeiten beispielsweise im Ultraschallfrequenzbereich. Hierbei werden ein Messsignal mit einem vorgebbaren Pulswiederholintervall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz ausgesendet und ein resultierendes Echosignal empfangen und ausgewertet. Das resultierende Echosignal weist in der Regel durch zu erkennende Objekte bewirkte Nutzsignalanteile und durch Störquellen verursachtes Rauschen als Störsignalanteile auf . Known devices for vehicle environment detection are used in driver assistance systems, such as a parking aid system, a blind spot monitoring system, a lane change system, etc., usually for the detection of objects or obstacles in the vehicle environment and work, for example in the ultrasonic frequency range. In this case, a measurement signal with a predefinable pulse repetition interval, a predefinable chest length and a predefinable signal frequency are transmitted and a resulting echo signal is received and evaluated. As a rule, the resulting echo signal has useful signal components caused by objects to be detected and noise caused by interference sources as interference signal components.
Prinzipiell ist es möglich ein Messsignal bei Abstandsmessungen nach dem Echolotprinzip zu modulieren sowie das resultie- rende Echosignal zu empfangen und entsprechend zu demodulieren. Bekannte Verfahren sind beispielsweise Frequenzmodulation, Amplitudenmodulation, oder Phasenmodulation. In principle, it is possible to modulate a measurement signal for distance measurements according to the echosounding principle and to receive the resulting echo signal and to demodulate it accordingly. Known methods are, for example, frequency modulation, amplitude modulation, or phase modulation.
Unabhängig vom verwendeten Modulationsverfahren kann das Sig- nal codiert werden. Bei einer Codierung wird beispielsweise eine bestimmte Bitfolge durch die Modulation als Sendesignal ausgegeben. Häufig wird der so genannte Barker-Code eingesetzt . Problematisch kann sich bei dem Einsatz von modulierten und codierten Messsignale auswirken, dass im Nahbereich des Fahrzeugs keine Hindernis detektiert werden können, da erst nach Beendigung des Sendevorgangs des Messsignals ein resultierendes Echosignal empfangen werden kann, während des Sendezeitraums ist der verwendete Sensor bzw. die verwendete Sende/Empfangseinheit blind. Je größer die Modulations- bzw. Signallänge ist, umso größer ist auch die Blindzeit und somit die Untergrenze des Messbereichs. Daher ist es erforderlich zwischen verschiedenen Messbereichen, mit und ohne Modulation, umzuschalten, um den gesamten Messbereich von sehr nahe bis weit entfernt vermessen zu können. Dadurch erhöht sich dann wiederum, aufgrund der mehrfachen Vermessung, die Reaktions- zeit des Systems. Regardless of the modulation method used, the signal can be coded. In the case of coding, for example, a specific bit sequence is output by the modulation as a transmission signal. Often the so-called Barker code is used. The use of modulated and coded measuring signals can have the effect that no obstacle can be detected in the vicinity of the vehicle since a resulting echo signal can only be received after the transmission of the measuring signal has ended. During the transmission period, the sensor used or the one used is Send / receive unit blind. The larger the modulation or signal length, the greater the blind time and thus the lower limit of the measuring range. It is therefore necessary to switch between different measuring ranges, with and without modulation, in order to be able to measure the entire measuring range from very close to far away. This in turn increases the reaction time of the system due to the multiple measurement.
In der Patentschrift US 7,643,376 B2 werden beispielsweise ein Verfahren und eine Vorrichtung zur Abstandsmessung mit Ultraschallsensoren beschrieben. Bei dem beschriebenen Verfahren wird vom Ultraschallsensor ein moduliertes Messsignal ausgesendet und das empfangene Echosignal wird in Bezug auf die Korrelation mit dem gesendeten Messsignal ausgewertet. Um auch Objekte im Nahbereich zuverlässig zu erkennen, kann zusätzlich ein kurzes, unmoduliertes Messsignal ausgesendet werden. Die- ses unmodulierte Messsignal wird alternierend mit dem modulierten Messsignal ausgesandt und in Bezug auf seine Amplitude ausgewertet . The patent US Pat. No. 7,643,376 B2 describes, for example, a method and a device for distance measurement with ultrasonic sensors. In the described method, a modulated measurement signal is emitted by the ultrasonic sensor and the received echo signal is evaluated with respect to the correlation with the transmitted measurement signal. In order to reliably detect objects in the near range, a short, unmodulated measurement signal can also be transmitted. This unmodulated measurement signal is emitted alternately with the modulated measurement signal and evaluated with respect to its amplitude.
In der Patentschrift EP 1 105 749 Bl werden ein Verfahren und eine Vorrichtung zur Erfassung von Objekten, insbesondere als Einparkhilfeassistenzvorrichtung in einem Kraftfahrzeug beschrieben. Die beschriebene Vorrichtung umfasst eine Anzahl von Abstandssensoren, mindestens einen die Abstandssensoren ansteuernden Mikrocontroller und eine Ausgabeeinheit. Der Mik- rocontroller steuert die Abstandssensoren durch eine Modulation mit einer zeitlich veränderlichen Kennung. Die Kennung kann insbesondere während des Betriebs zufällig verändert werden, um gegenseitige Störungen der Sensoren zu vermeiden. Patent specification EP 1 105 749 B1 describes a method and a device for detecting objects, in particular as a parking aid assist device in a motor vehicle. The device described comprises a number of distance sensors, at least one microcontroller controlling the distance sensors and an output unit. The microcontroller controls the distance sensors by a modulation with a time-varying identifier. The identifier can especially at random during operation to avoid mutual interference of the sensors.
Aufgabe der Erfindung ist es, ein Verfahren zur Generierung eines Messsignals zur Fahrzeugumfelderfassung der im Oberbegriff des Anspruchs 1 genannten Art, eine korrespondierende Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung der im Oberbegriff des Anspruchs 10 genannten Art und eine korrespondierende Vorrichtung zur Fahrzeugumfel- derfassung der im Oberbegriff des Anspruchs 15 genannten Art dahingehend weiterzuentwickeln, dass eine flexible Anpassung des auszusendenden Messsignals an die gegebenen Umstände im Fahrzeugumfeld ermöglicht wird. Diese Aufgabe wird erfindungsgemäß durch ein Verfahren zur Generierung eines Messsignals zur Fahrzeugumfelderfassung mit den Merkmalen des Anspruchs 1 sowie durch eine Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung mit den Merkmalen des Anspruchs 10 und durch eine Vorrichtung zur Fahrzeugumfelderfassung mit den Merkmalen des Anspruchs 15 gelöst. Weitere die Ausführungsformen der Erfindung in vorteilhafter Weise ausgestaltende Merkmale enthalten die Unteransprüche . Der mit der Erfindung erzielte Vorteil besteht darin, dass die Fahrzeugumfelderfassung zur Abstandsmessung nicht mit Messsignalen arbeitet, welche eine fest vorgegebene Codierung und fest vorgegebene Parameter, wie Pulswiederholintervall, Brustlänge und/oder Signalfrequenz aufweisen, sondern mit Messsig- nalen arbeitet, deren Codierung und/oder Parameter in Abhängigkeit von in der Umgebung des Fahrzeugs vorhandener aktueller Störsignale und/oder Hindernisse variabel und flexibel vorgegeben werden können. So kann beispielsweise Art und Dauer der Modulation und/oder Codierung jeder Abstandsmessung neu vorgegeben werden. Der Grundgedanke der Erfindung basiert darauf, dass vor der eigentlichen Ermittlung von Abständen zu erkannten Hindernissen, ein uncodiertes erstes Messsignal ohne Modulation, also mit einer sehr kurzen Sendedauer ausgesendet wird. Dadurch ist der Messbereich der Fahrzeugumfelderfassung durch die minimale Untergrenze und die maximale Obergrenze maximal geöffnet. Die Störsicherheit ist jedoch minimal, wodurch die Abstände zu erkannten Hindernissen nur geschätzt werden können. In Reaktion auf das ausgesendete erste Messsignal wird ein Echosignal emp- fangen, welches Störsignalanteile und Nutzsignalanteile aufweist. Aus diesen Informationen kann berechnet werden, ob bzw. wie stark ein nachfolgendes Messsignal codiert und/oder moduliert werden soll, um Hindernisse und deren Abstand zum Fahrzeug sicher zu erkennen und um externe Störungen mit einer möglichst großen Sicherheit herauszufiltern . The object of the invention is a method for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 1, a corresponding device for generating a measurement signal for vehicle environment detection referred to in the preamble of claim 10 and a corresponding device for Fahrzeugumfel- age of the The preamble of claim 15 mentioned type to further develop that a flexible adaptation of the transmitted measuring signal to the given circumstances in the vehicle environment is made possible. This object is achieved by a method for generating a measurement signal for vehicle environment detection with the features of claim 1 and by a device for generating a measurement signal for vehicle environment detection with the features of claim 10 and by a device for vehicle environment detection with the features of claim 15. Other embodiments of the invention advantageously embodying features include the dependent claims. The advantage achieved by the invention is that the vehicle environment detection for distance measurement does not work with measurement signals which have a fixed predetermined coding and fixed parameters such as pulse repetition interval, chest length and / or signal frequency, but works with Messsig- signals whose coding and / or parameters can be variably and flexibly specified as a function of current interference signals present in the environment of the vehicle and / or obstacles. For example, the nature and duration of the modulation and / or coding of each distance measurement can be redefined. The basic idea of the invention is based on the fact that, prior to the actual determination of distances to identified obstacles, an uncoded first measurement signal without modulation, ie with a very short transmission duration, is transmitted. As a result, the measuring range of the vehicle environment detection is opened by the minimum lower limit and the maximum upper limit. The immunity to interference is minimal, however, so that the distances to detected obstacles can only be estimated. In response to the transmitted first measurement signal, an echo signal is received, which has interference signal components and useful signal components. From this information can be calculated whether or how much a subsequent measurement signal is to be encoded and / or modulated to safely detect obstacles and their distance from the vehicle and to filter out external interference with the greatest possible security.
Wird beispielsweise ein großer Abstand zu einem erkannten Hindernis geschätzt und eine stark gestörte Umgebung erkannt, dann kann ein stark codiertes und/oder moduliertes Messsignal mit einer langen Sendedauer erzeugt und ausgesendet werden.If, for example, a large distance to a detected obstacle is estimated and a strongly disturbed environment is detected, then a strongly coded and / or modulated measurement signal with a long transmission duration can be generated and transmitted.
Die Untergrenze des Messbereichs wird dadurch schlechter, weil größer eingestellt, und die Störsicherheit wird jedoch verbessert. Bei kleinen Abständen zu einem erkannten Hindernis, kann beispielsweise keine oder nur eine geringe Codierung und/oder Modulation des Messsignals erfolgen, um die Sendedauer des Messsignals kurz zu halten. The lower limit of the measuring range becomes worse because it is set larger, and the noise immunity is improved. For small distances to a detected obstacle, for example, no or only a small coding and / or modulation of the measurement signal can be made to keep the transmission duration of the measurement signal short.
Durch Ausführungsformen der vorliegenden Erfindung können die Untergrenze des Messbereichs und die Störsicherheit in vor- teilhafter Weise dynamisch während des Betriebs an die Gegebenheiten im Fahrzeugumfeld angepasst werden. Dadurch sind keine Umschaltvorgänge zwischen verschiedenen Messbereichen erforderlich, wodurch eine verbesserte geringere Reaktionszeit des Gesamtsystems erzielt werden kann. Somit ergibt sich eine sehr flexible Fahrzeugumfelderfassung, deren Messsignale mit einer situationsabhängigen Sendedauer an die gegebenen Umstände flexibel angepasst werden können. Es kann auch ganz auf die Modulation bzw. Codierung verzichtet werden, wenn dies aus Systemsicht nach Auswertung des ersten Echosignals nicht erforderlich ist. In vorteilhafter Ausgestaltung des erfindungsgemäßen Verfahrens wird vor der Fahrzeugumfelderfassung zur Ermittlung der aktuellen Störsignale ein uncodiertes erstes Messsignal ausgesendet und ein resultierendes erstes Echosignal mit Nutzsignalanteilen und/oder Störsignalanteilen empfangen und ausge- wertet. Die Sendedauer des uncodierten ersten Messsignals zur Ermittlung der aktuellen Störsignale wird so vorgegeben, dass ein Messbereich zur Fahrzeugumfelderfassung maximal geöffnet ist . In weiterer vorteilhafter Ausgestaltung des erfindungsgemäßen Verfahrens werden aus den Nutzsignalanteilen des empfangenen resultierenden Echosignals Abstände zu erkannten Hindernissen geschätzt. Des Weiteren wird aus dem empfangenen resultierenden ersten Echosignal die Stärke von erkannten Störsignalan- teilen ermittelt. By means of embodiments of the present invention, the lower limit of the measuring range and the immunity to interference can advantageously be adapted dynamically during operation to the circumstances in the vehicle environment. As a result, no switching operations between different measuring ranges are required, whereby an improved lower reaction time of the entire system can be achieved. This results in a very flexible vehicle environment detection, the measurement signals can be flexibly adapted to the given circumstances with a situation-dependent transmission duration. It can also be quite on the Modulation or coding are omitted if this is not required from the system point of view after evaluation of the first echo signal. In an advantageous embodiment of the method according to the invention, an uncoded first measurement signal is emitted before vehicle surroundings detection for determining the current interference signals, and a resulting first echo signal with useful signal components and / or interference signal components is received and evaluated. The transmission duration of the uncoded first measurement signal for determining the current interference signals is predetermined such that a measurement range for vehicle environment detection is maximally open. In a further advantageous embodiment of the method according to the invention, distances to detected obstacles are estimated from the useful signal components of the resulting resulting echo signal. Furthermore, the strength of detected Störsignalan- parts is determined from the received resulting first echo signal.
In weiterer vorteilhafter Ausgestaltung des erfindungsgemäßen Verfahrens wird die Länge der Codierung von nachfolgenden Messsignalen und damit die Sendezeitdauer von nachfolgenden Messsignalen proportional zum geschätzten Abstand zu erkannten Hindernissen vorgegeben. Alternativ oder zusätzlich kann die Länge der Codierung von nachfolgenden Messsignalen und damit die Sendezeitdauer von nachfolgenden Messsignalen proportional zur ermittelten Stärke der Störsignalanteile vorgegeben wer- den. Hierbei wird die Codierung der nachfolgenden Messsignale so ausgeführt, dass Abstände zu erkannten Hindernissen genau ermittelt und die Störsignalanteile unterdrückt werden können. Das Messsignal kann zur Codierung beispielsweise mit einer vorgegebenen Codebitfolge moduliert werden. In a further advantageous embodiment of the method according to the invention, the length of the encoding of subsequent measurement signals and thus the transmission time duration of subsequent measurement signals is predetermined proportional to the estimated distance to detected obstacles. Alternatively or additionally, the length of the coding of subsequent measurement signals and thus the transmission time duration of subsequent measurement signals can be predetermined proportional to the determined strength of the interference signal components. Here, the coding of the subsequent measurement signals is carried out so that distances to detected obstacles can be accurately determined and the noise components can be suppressed. The measurement signal can be modulated for coding, for example, with a predetermined code bit sequence.
Eine erfindungsgemäße Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet, umfasst eine Sende/Empfangseinheit, welche ein Messsignal mit einer vorgebbaren Codierung, einem vorgebbaren Pulswiederholintervall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz aussendet und ein resultierendes Echosignal zur Auswertung empfängt. Erfindungsgemäß ist eine Auswerte- und/oder Steuereinheit vorhanden, welche Codierung und/oder Parameter des Messsignals in Abhängigkeit von in der Umgebung des Fahrzeugs vorhandener aktueller Störsignale und/oder Hindernisse vor- gibt. An inventive device for generating a measurement signal for vehicle environment detection, which preferably in Ultrasonic frequency range operates, comprises a transmitting / receiving unit which emits a measurement signal with a predefinable coding, a predetermined pulse repetition interval, a predetermined chest length and a predeterminable signal frequency and receives a resulting echo signal for evaluation. According to the invention, an evaluation and / or control unit is present which predetermines coding and / or parameters of the measurement signal as a function of current interference signals present in the environment of the vehicle and / or obstacles.
In vorteilhafter Ausgestaltung der erfindungsgemäßen Vorrichtung sendet die Auswerte- und/oder Steuereinheit vor der Fahrzeugumfelderfassung zur Ermittlung der aktuellen Störsignale über die Sende/Empfangseinheit ein uncodiertes erstes Messsignal aus und empfängt ein resultierendes erstes Echosignal mit Nutzsignalanteilen und/oder Störsignalanteilen, welche ausgewertet werden. Hierbei gibt die Auswerte- und/oder Steuereinheit die Sendedauer des uncodierten ersten Messsignals zur Er- mittlung der aktuellen Störsignale so vor, dass ein Messbereich zur Fahrzeugumfelderfassung maximal geöffnet ist. In an advantageous embodiment of the device according to the invention, the evaluation and / or control unit sends an uncoded first measurement signal before the vehicle environment detection for determining the current interference via the transmitting / receiving unit and receives a resulting first echo signal with useful signal and / or Störsignalanteilen, which are evaluated. In this case, the evaluation and / or control unit predetermines the transmission duration of the uncoded first measurement signal for determining the current interference signals such that a measurement range for vehicle environment detection is maximally open.
In weiterer vorteilhafter Ausgestaltung der erfindungsgemäßen Vorrichtung ist ein Signalgenerator zur Erzeugung eines Trä- gersignals für das Messsignal vorgesehen. In a further advantageous embodiment of the device according to the invention, a signal generator for generating a carrier signal for the measuring signal is provided.
In weiterer vorteilhafter Ausgestaltung der erfindungsgemäßen Vorrichtung sind eine Modulationseinheit zur Modulation des auszusendenden Messsignals und/oder zur Demodulation des emp- fangenen Echosignals und eine Codiereinheit zur Codierung des auszusendenden Messsignals und zur Decodierung des empfangenen Echosignals vorhanden. In a further advantageous embodiment of the device according to the invention, a modulation unit is provided for modulating the measurement signal to be transmitted and / or for demodulation of the received echo signal and an encoding unit for encoding the measurement signal to be transmitted and for decoding the received echo signal.
Die erfindungsgemäße Vorrichtung zur Generierung eines Mess- signals zur Fahrzeugumfelderfassung kann beispielsweise in einer Vorrichtung zur Fahrzeugumfelderfassung eingesetzt werden, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet und mindestens eine Sende/Empfangseinheit umfasst, welche ein Messsignal mit einem vorgebbaren Pulswiederholintervall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz aussendet und ein resultierendes Echosignal zur Auswertung empfängt . The inventive device for generating a measurement signal for vehicle environment detection can be used for example in a device for vehicle environment detection, which preferably operates in the ultrasonic frequency range and comprises at least one transmitting / receiving unit which emits a measuring signal having a predefinable pulse repetition interval, a predefinable chest length and a predeterminable signal frequency and receives a resulting echo signal for evaluation.
Nachfolgend werden Ausführungsbeispiele der Erfindung anhand einer zeichnerischen Darstellung näher erläutert. In der Darstellung zeigt: Embodiments of the invention will be explained in more detail with reference to a drawing. In the illustration shows:
Fig. 1 ein Blockdiagramm eines Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung zur Fahrzeugumfelderfassung . Fig. 1 is a block diagram of an embodiment of an inventive device for vehicle environment detection.
Fig. 2 ein Flussdiagramm eines Ausführungsbeispiels eines er- findungsgemäßen Verfahrens zur Rauschoptimierung eines2 shows a flow chart of an exemplary embodiment of a method according to the invention for optimizing noise
Echosignals für eine Fahrzeugumfelderfassung. Echo signal for a vehicle environment detection.
Fig. 3 ein Kennliniendiagramm eines uncodierten ersten Messsignals und eines resultierenden ersten Echosignals zur Ermittlung einer aktuellen Fahrzeugumgebung in einer ersten Umfeldsituation. 3 is a characteristic diagram of an uncoded first measurement signal and a resulting first echo signal for determining a current vehicle environment in a first environment situation.
Fig. 4 ein Kennliniendiagramm eines nachfolgend ausgesendeten codierten Messsignals, dessen Codierung und/oder Parameter in Abhängigkeit von der ersten Umfeldsituation eingestellt sind. Fig. 5 ein Kennliniendiagramm eines uncodierten ersten Messsignals und eines resultierenden ersten Echosignals zur Ermittlung einer aktuellen Fahrzeugumgebung in einer zweiten Umfeldsituation. 4 is a characteristic diagram of a subsequently transmitted encoded measurement signal whose coding and / or parameters are set as a function of the first environment situation. 5 is a characteristic diagram of an uncoded first measurement signal and a resulting first echo signal for determining a current vehicle environment in a second environment situation.
Fig. 6 ein Kennliniendiagramm eines nachfolgend ausgesendeten codierten Messsignals, dessen Codierung und/oder Para- meter in Abhängigkeit von der zweiten Umfeldsituation eingestellt sind. 6 is a characteristic diagram of a subsequently transmitted coded measuring signal, whose coding and / or parameter meter are set depending on the second environment situation.
Wie aus Fig. 1 ersichtlich ist, umfasst ein dargestelltes Ausführungsbeispiel einer Vorrichtung zur Fahrzeugumfelderfassung 1, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet, eine Auswerte- und/oder Steuereinheit 10, mehrere Sende/Empfangseinheiten, von welchen beispielhaft eine Sende/Empfangseinheit 20 dargestellt ist, eine Modulationseinheit 30 zur Modulation eines auszusendenden Messsignals 22 und/oder zur Demodulation eines empfangenen Echosignals 24, eine Codiereinheit 40 zur Codierung des auszusendenden Messsignals 22 und zur Decodierung des empfangenen Echosignals 24, einen Signalgenerator 50 zur Erzeugung eines Trägersignals für das auszusendende Messsignal 22 und eine Ausgabeeinheit 60 zur opti- sehen, akustischen und/oder haptischen Ausgabe von ermittelten Abständen zu erkannten Hindernissen im Fahrzeugumfeld . Die Sende/Empfangseinheit 20 sendet zur Fahrzeugumfelderfassung das vom Signalgenerator 50 erzeugte Messsignal 22 mit einer vorgebbaren Codierung, einem vorgebbaren Pulswiederholinter- vall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz aus und empfängt ein resultierendes Echosignal 24 zur Auswertung. As can be seen from FIG. 1, an illustrated exemplary embodiment of a device for vehicle surroundings detection 1, which preferably operates in the ultrasound frequency range, comprises an evaluation and / or control unit 10, a plurality of transceiver units, of which, by way of example, a transceiver unit 20 is shown Modulation unit 30 for modulating a measurement signal 22 to be transmitted and / or for demodulating a received echo signal 24, a coding unit 40 for encoding the measurement signal 22 to be transmitted and for decoding the received echo signal 24, a signal generator 50 for generating a carrier signal for the measurement signal 22 to be transmitted and an output unit 60 for opti- see, acoustic and / or haptic output of determined distances to detected obstacles in the vehicle environment. The transceiver unit 20 transmits the measurement signal 22 generated by the signal generator 50 with a predefinable coding, a predefinable pulse repetition interval, a predefinable chest length and a predefinable signal frequency for vehicle environment detection and receives a resulting echo signal 24 for evaluation.
Erfindungsgemäß gibt die Auswerte- und/oder Steuereinheit 10 die Codierung und/oder die Parameter des Messsignals 22, wie beispielsweise Pulswiederholintervall, Brustlänge und/oder Signalfrequenz, in Abhängigkeit von in der Umgebung des Fahrzeugs vorhandener aktueller Störsignale und/oder Hindernisse vor. Zur Ermittlung der aktuellen Störsignale sendet die Aus- werte- und/oder Steuereinheit 10 vor der eigentlichen Fahrzeugumfelderfassung über die Sende/Empfangseinheit 20 ein in Fig. 3 und 5 dargestelltes uncodiertes erstes Messsignal 22 aus und empfängt ein resultierendes in Fig. 3 und 5 dargestelltes erstes Echosignal 24 mit Nutzsignalanteilen 24.1 und/oder Störsignalanteilen 24.2 zur Auswertung. Die Darstellung in Fig. 3 repräsentiert eine Hüllkurve für eine Fahrzeug- Umgebung mit starken Störquellen und einem Hindernis in großer Entfernung. Die Darstellung in Fig. 5 repräsentiert eine Hüllkurve für eine Fahrzeugumgebung ohne Störquellen und einem Hindernis in geringer Entfernung. According to the invention, the evaluation and / or control unit 10 predetermines the coding and / or the parameters of the measurement signal 22, such as pulse repetition interval, chest length and / or signal frequency, as a function of current interference signals present in the surroundings of the vehicle and / or obstacles. In order to determine the current interference signals, the evaluation and / or control unit 10 sends an uncoded first measurement signal 22 shown in FIGS. 3 and 5 before the actual vehicle surroundings detection via the transceiver unit 20 and receives a resulting one shown in FIGS. 3 and 5 first echo signal 24 with Nutzsignalanteilen 24.1 and / or Störsignalanteilen 24.2 for evaluation. The representation in FIG. 3 represents an envelope for a vehicle Environment with strong sources of interference and an obstacle at a great distance. The illustration in FIG. 5 represents an envelope for a vehicle environment without sources of interference and a small distance obstacle.
Die Auswerte- und/oder Steuereinheit 10 gibt die Sendedauer tSD des uncodierten ersten Messsignals 22 zur Ermittlung der aktuellen Störsignale so vor, dass ein Messbereich zur Fahrzeugumfelderfassung maximal geöffnet ist. Das bedeutet, dass Hinder- nisse in großer Entfernung zum Fahrzeug, welche durch eine lange Echolaufzeit tEL gekennzeichnet sind, und Hindernisse im direkten Fahrzeugumfeld, welche durch eine kurze Echolaufzeit tEL gekennzeichnet sind, erkannt werden können sowie Störsignale erfasst werden, da die Störsicherheit minimal ist. Somit ist der Messbereich der Fahrzeugumfelderfassung durch die minimale Untergrenze und die maximale Obergrenze maximal geöffnet. In Reaktion auf das ausgesendete erste Messsignal 22 werden in Abhängigkeit von der Umgebungssituation unterschiedliche erste Echosignale 24 empfangen, welche Nutzsignalanteile 24.1 und Störsignalanteile 24.2 aufweisen können. Aus diesen Informationen kann berechnet werden, ob bzw. wie stark ein nachfolgendes Messsignal 22 ' , 22 ' ' codiert und/oder moduliert werden soll, um Hindernisse und deren Abstand zum Fahrzeug sicher zu erkennen und um externe Störungen mit einer möglichst großen Sicherheit herauszufiltern . The evaluation and / or control unit 10 specifies the transmission duration t S D of the uncoded first measurement signal 22 for determining the current interference signals in such a way that a measurement range for vehicle environment detection is maximally open. This means that obstructions can be detected at a great distance from the vehicle, which are characterized by a long echo time t E L, and obstacles in the direct vehicle environment, which are characterized by a short echo time tEL, as well as interference signals, since the interference immunity is minimal. Thus, the measuring range of the vehicle environment detection is opened by the minimum lower limit and the maximum upper limit maximum. In response to the emitted first measurement signal 22, depending on the environmental situation, different first echo signals 24 are received, which can comprise useful signal components 24.1 and interference signal components 24.2. From this information can be calculated whether or how much a subsequent measurement signal 22 ', 22''coded and / or modulated to safely detect obstacles and their distance from the vehicle and to filter out external interference with the greatest possible security.
Die Darstellung in Fig. 3 zeigt beispielsweise einen großen Abstand zu einem erkannten Hindernis und eine stark gestörte Umgebung. Dadurch erzeugt die Auswerte- und/oder Steuereinheit 10 unter Verwendung der Modulationseinheit 30, der Codiereinheit 40 und des Signalgenerators 50 ein in Fig. 4 dargestelltes stark codiertes und/oder moduliertes Messsignal 22 ' mit einer langen Sendedauer tSD_code und sendet dieses über die Sende/Empfangseinheit 20 aus. Wie aus Fig. 4 ersichtlich ist, wird dadurch die Untergrenze des Messbereichs schlechter, weil größer eingestellt, und die Störsicherheit wird jedoch verbessert, da die Störsignalanteile nahezu vollständig aus dem E- chosignal 24 ' entfernt sind, welches nur noch codierte Nutzsignalanteile 24.1 ' zur Ermittlung des Abstandes zum erkannten Hindernis aufweist. Die Darstellung in Fig. 5 zeigt beispielsweise einen geringen Abstand zu einem erkannten Hindernis und eine nahezu ungestörte Umgebung. Dadurch erzeugt die Auswerte- und/oder Steuereinheit 10 unter Verwendung der Modulationseinheit 30, der Codiereinheit 40 und des Signalgenerators 50 ein in Fig. 6 dar- gestelltes gar nicht bzw. nur schwach codiertes und/oder moduliertes Messsignal 22 '' mit einer kurzen Sendedauer tSD_code und sendet dieses über die Sende/Empfangseinheit 20 aus. Wie aus Fig. 5 und 6 ersichtlich ist, sind keine Störsignalanteile in den Echosignalen 24, 24/ y enthalten, welches nur Nut zsignalan- teile 24.1, 24.1/ y zur Ermittlung des kurzen Abstandes zum erkannten Hindernis aufweisen. The illustration in Fig. 3 shows, for example, a large distance to a detected obstacle and a strongly disturbed environment. As a result, the evaluation and / or control unit 10 generates, using the modulation unit 30, the coding unit 40 and the signal generator 50, a strongly coded and / or modulated measurement signal 22 'shown in FIG. 4 with a long transmission duration t S D_code and transmits this via the Transceiver 20 off. As can be seen from FIG. 4, the lower limit of the measuring range is thereby made worse because it is set larger, and the interference immunity is improved, however, since the interference signal components are almost completely removed from the E-signal. chosignal 24 'are removed, which has only coded useful signal portions 24.1' to determine the distance to the detected obstacle. The illustration in FIG. 5 shows, for example, a small distance to a detected obstacle and an almost undisturbed environment. As a result, the evaluation and / or control unit 10 generates, using the modulation unit 30, the coding unit 40 and the signal generator 50, a measurement signal 22 "which is not coded or only slightly coded and / or modulated in FIG. 6 with a short transmission duration t S D_code and sends this via the transmitting / receiving unit 20. As can be seen from FIGS. 5 and 6, no interference signal components are contained in the echo signals 24, 24 / y , which have only groove zignalan parts 24.1, 24.1 / y for determining the short distance to the detected obstacle.
Nachfolgend wird unter Bezugnahme auf Fig. 2 ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens beschrieben. Wie aus Fig. 2 ersichtlich ist, wird im Schritt S10 ein uncodier- tes erstes Messsignal 22 mit einer kurzen Sendedauer tsD ausgesendet, um den Messbereich der Fahrzeugumfelderfassung maximal zu öffnen. Im Schritt S20 wird in Reaktion auf das ausgesendete erste Messsignal 22 ein erstes Echosignal 24 empfangen, welches Nutzsignalanteile 24.1 und Störsignalanteile 24.2 aufweist. Im Schritt S30 werden durch Auswerten der Nutzsignalanteile 24.1 des empfangenen resultierenden Echosignals 24 Abstände zu erkannten Hindernissen geschätzt. Im Schritt S40 wird aus dem empfangenen resultierenden ersten Echosignal 24 die Stärke von erkannten Störsignalanteilen 24.2 ermittelt.An exemplary embodiment of a method according to the invention will be described below with reference to FIG. As can be seen from FIG. 2, in step S10, an uncoded first measurement signal 22 having a short transmission duration ts D is transmitted in order to maximally open the measurement range of the vehicle environment detection. In step S20, in response to the transmitted first measurement signal 22, a first echo signal 24 is received, which has useful signal components 24.1 and interference signal components 24.2. In step S30, distances to detected obstacles are estimated by evaluating the wanted signal portions 24.1 of the received resulting echo signal 24. In step S40, the strength of recognized interference signal components 24.2 is determined from the received resulting first echo signal 24.
Erfindungsgemäß werden im Schritt S50 die Codierung und/oder Parameter des nachfolgenden Messsignals 22 ' , 22 ' ' in Abhängigkeit von der ermittelten Stärke der vorhandenen Störsignalanteile und/oder den geschätzten Abständen zu erkannten Hinder- nissen eingestellt. Die Länge der Codierung von nachfolgenden Messsignalen 22 ' , 22 ' ' und damit die Sendedauer tSD von nachfolgenden Messsignalen 22 ' , 22 ' ' kann beispielsweise proporti- onal zum geschätzten Abstand zu erkannten Hindernissen According to the invention, the coding and / or parameters of the subsequent measurement signal 22 ', 22 "are set in step S50 as a function of the determined strength of the existing interference signal components and / or the estimated distances to identified obstacles. The length of the coding of subsequent measurement signals 22 ', 22 "and thus the transmission duration t S D of subsequent measurement signals 22', 22" may be, for example, proportional to onal to the estimated distance to detected obstacles
und/oder zur ermittelten Stärke der Störsignalanteile 24.2 vorgegeben werden. Vorzugsweise wird die Codierung der nachfolgenden Messsignals 22 ' , 2 2 ' ' so ausgeführt, dass die Ab- stände zu erkannten Hindernissen genau ermittelt und die Störsignalanteile 24.2 unterdrückt werden können. Im Schritt S60 werden die nachfolgenden Messsignale 22 ' , 2 2 ' ' mit der eingestellten Codierung und/oder den eingestellten Parametern ausgegeben. Im Schritt S70 werden die resultierenden codierten Echosignale 24 ' , 2 4. ' ' empfangen und ausgewertet. Im Schrittand / or to the determined strength of the interference signal components 24.2. Preferably, the coding of the subsequent measurement signal 22 ', 2 2 "is carried out so that the distances to identified obstacles can be determined precisely and the interference signal components 24. 2 can be suppressed. In step S60, the subsequent measurement signals 22 ', 2 2' 'are output with the set coding and / or the set parameters. In step S70, the resulting encoded echo signals 24 ', 2, 4' 'are received and evaluated. In step
S80 werden die genauen Abstände zu den erkannten Hindernissen durch Auswerten der Nutzsignalanteile 24.1 y , 24.1/ y des Echosignals 24 ' , 24 '' ermittelt. Die ermittelten Abstände können anschließend optisch, akustisch und/oder haptisch an den Fah- rer ausgegeben werden. S80 the exact distances to the detected obstacles by evaluating the useful signal components 24.1 y , 24.1 / y of the echo signal 24 ', 24''determined. The determined distances can then be output visually, acoustically and / or haptically to the driver.
In Fig. 1 sind die einzelnen Komponenten der erfindungsgemäßen Vorrichtung als eigenständige Baugruppen dargestellt. Selbstverständlich können die Funktionalitäten von mehreren Baugrup- pen zusammengefasst und nur durch eine neu entstehende Baugruppe ausgeführt werden. So können beispielsweise der Signalgenerator 50, die Modulationseinheit 30 und die Codiereinheit 40 zu einer Signalerzeugungseinheit zusammengefasst werden. Zudem können Ausführungsformen der vorliegenden Erfindung bzw. einzelne beschriebenen Komponenten als Schaltung, Vorrichtung, Verfahren, Datenverarbeitungsprogramm mit Programmcodemitteln und/oder als Computerprogrammprodukt realisiert werden. Entsprechend kann die vorliegende Erfindung vollständig als Hardware und/oder als Software und/oder als Kombination aus Hard- wäre- und/oder Softwarekomponenten ausgeführt werden. Zudem kann die vorliegende Erfindung als Computerprogrammprodukt auf einem computernutzbaren Speichermedium mit computerlesbarem Programmcode ausgeführt werden, wobei verschiedene computerlesbare Speichermedien wie Festplatten, CD-ROMs, optische oder magnetische Speicherelemente usw. benutzt werden können. Durch die Verwendung von modulierten und/oder codierten Messsignalen kann die Robustheit der Abstandsmessung bei externen Störungen erhöht werden. Je länger das modulierte Messsignal dauert, umso besser ist die Unterscheidung und somit die Si- cherheit . In Fig. 1, the individual components of the device according to the invention are shown as separate assemblies. Of course, the functionalities of several modules can be summarized and executed only by a newly created module. For example, the signal generator 50, the modulation unit 30 and the coding unit 40 can be combined to form a signal generation unit. In addition, embodiments of the present invention or individual components described can be realized as a circuit, device, method, data processing program with program code means and / or as a computer program product. Accordingly, the present invention may be implemented entirely as hardware and / or as software and / or as a combination of hardware and / or software components. In addition, the present invention may be embodied as a computer program product on a computer usable storage medium having computer readable program code, whereby various computer readable storage media such as hard disks, CD-ROMs, optical or magnetic storage elements, etc. may be used. By using modulated and / or coded measuring signals, the robustness of the distance measurement can be increased in the case of external disturbances. The longer the modulated measurement signal lasts, the better the distinction and thus the safety.
Zudem können durch die Modulation und Codierung der gesendeten Messsignale die empfangenen Echosignale besser unterschieden werden, welche von verschiedenen Sendeeinheiten gesendet wer- den. Dadurch wird beispielsweise ein gleichzeitiger Betrieb von mehreren Sensoren möglich, wobei durch ein längeres Messsignal eine größere Anzahl von Codierungen möglich ist. In addition, the modulation and coding of the transmitted measuring signals makes it possible to better distinguish the received echo signals which are transmitted by different transmitting units. As a result, for example, a simultaneous operation of multiple sensors is possible, with a longer measurement signal, a larger number of codes is possible.
Problematisch kann sich bei dem Einsatz von modulierten und codierten Messsignale auswirken, dass im Nahbereich des Fahrzeugs keine Hindernis detektiert werden können, da erst nach Beendigung des Sendevorgangs des Messsignals ein resultierendes Echosignal empfangen werden kann, während des Sendezeitraums ist der verwendete Sensor bzw. die verwendete Sen- de/Empfangseinheit blind. Je größer die Modulations- bzw. Signallänge ist, umso größer ist auch die Blindzeit und somit die Untergrenze des Messbereichs. Daher können Ausführungsformen der vorliegenden Erfindung die Untergrenze des Messbereichs und die Störsicherheit in vorteilhafter Weise dynamisch wäh- rend des Betriebs an die Gegebenheiten im Fahrzeugumfeld anpassen. Dadurch sind keine Umschaltvorgänge zwischen verschiedenen Messbereichen erforderlich, wodurch eine verbesserte geringere Reaktionszeit des Gesamtsystems erzielt werden kann. Somit ergibt sich eine sehr flexible Fahrzeugumfelderfassung, deren Messsignale mit einer situationsabhängigen Pulslänge an die gegebenen Umstände flexibel angepasst werden können. Es kann auch ganz auf die Modulation bzw. Codierung verzichtet werden, wenn diese aus Systemsicht nach Auswertung des ersten Echosignals nicht erforderlich ist. The use of modulated and coded measuring signals can have the effect that no obstacle can be detected in the vicinity of the vehicle since a resulting echo signal can only be received after the transmission of the measuring signal has ended. During the transmission period, the sensor used or the one used is Sending / receiving unit blind. The larger the modulation or signal length, the greater the blind time and thus the lower limit of the measuring range. Therefore, embodiments of the present invention can advantageously dynamically adjust the lower limit of the measurement range and the noise immunity during operation to the circumstances in the vehicle environment. As a result, no switching operations between different measuring ranges are required, whereby an improved lower reaction time of the entire system can be achieved. This results in a very flexible vehicle environment detection, the measurement signals can be flexibly adapted to the given circumstances with a situation-dependent pulse length. It is also possible to completely dispense with the modulation or coding if, from the system point of view, this is not required after evaluation of the first echo signal.

Claims

Patentansprüche claims
Verfahren zur Generierung eines Messsignals zur Fahrzeugumfelderfassung, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet, wobei ein Messsignal (22, 22 ' , 2 2 ' ' ) mit einer vorgebbaren Codierung, einem vorgebbaren Pulswiederholintervall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz ausgesendet und ein resultierendes codiertes Echosignal (24, 24y, 24/ y) empfangen und ausgewertet wird, A method for generating a measurement signal for vehicle environment detection, which preferably operates in the ultrasonic frequency range, wherein a measurement signal (22, 22 ', 2 2'') with a predetermined coding, a predetermined pulse repetition interval, a predeterminable chest length and a predeterminable signal frequency emitted and a resulting coded echo signal (24, 24 y , 24 / y ) is received and evaluated,
dadurch gekennzeichnet, characterized,
dass die Codierung und/oder Parameter des Messsignals (22, 22 ' , 2 2 ' ' ) in Abhängigkeit von in der Umgebung des Fahrzeugs vorhandener aktueller Störsignale und/oder Hindernisse vorgegeben wird. in that the coding and / or parameters of the measuring signal (22, 22 ', 2 2' ') are predetermined as a function of current interference signals and / or obstacles present in the surroundings of the vehicle.
Verfahren nach Anspruch 1, Method according to claim 1,
dadurch gekennzeichnet, characterized,
dass vor der Fahrzeugumfelderfassung zur Ermittlung der aktuellen Störsignale ein uncodiertes erstes Messsignal (22) ausgesendet und ein resultierendes erstes Echosignal (24) mit Nutzsignalanteilen (24.1) und/oder Störsignalanteilen (24.2) empfangen und ausgewertet wird. an uncoded first measurement signal (22) is emitted prior to the vehicle environment detection for determining the current interference signals, and a resulting first echo signal (24) with useful signal components (24.1) and / or interference signal components (24.2) is received and evaluated.
Verfahren nach Anspruch 2, Method according to claim 2,
dadurch gekennzeichnet, characterized,
dass eine Sendedauer des uncodierten ersten Messsignals (22) zur Ermittlung der aktuellen Störsignale so vorgegeben wird, dass ein Messbereich zur Fahrzeugumfelderfassung maximal geöffnet ist. a transmission duration of the uncoded first measurement signal (22) for determining the current interference signals is predetermined in such a way that a measurement range for vehicle environment detection is maximally open.
Verfahren nach einem der Ansprüche 1 bis 3, Method according to one of claims 1 to 3,
dadurch gekennzeichnet, dass aus den Nutzsignalanteilen (24.1) des empfangenen resultierenden Echosignals (24) Abstände zu erkannten Hindernissen geschätzt werden. characterized, from the useful signal components (24.1) of the received resulting echo signal (24), distances to detected obstacles can be estimated.
Verfahren nach einem der Ansprüche 1 bis 4, Method according to one of claims 1 to 4,
dadurch gekennzeichnet, characterized,
dass aus dem empfangenen resultierenden ersten Echosignal (24) die Stärke von erkannten Störsignalanteilen (24.2) ermittelt wird. in that the strength of recognized interference signal components (24.2) is determined from the received first echo signal (24).
Verfahren nach einem der Ansprüche 2 bis 5, Method according to one of claims 2 to 5,
dadurch gekennzeichnet, characterized,
dass die Länge der Codierung von nachfolgenden Messsignalen (22 ' , 22'') und damit die Sendezeitdauer von nachfolgenden Messsignalen (22 ' , 22'') proportional zum geschätzten Abstand zu erkannten Hindernissen vorgegeben wird . the length of the coding of subsequent measuring signals (22 ', 22' ') and thus the transmission time duration of subsequent measuring signals (22', 22 '') is predetermined proportional to the estimated distance to detected obstacles.
Verfahren nach einem der Ansprüche 2 bis 6, Method according to one of claims 2 to 6,
dadurch gekennzeichnet, characterized,
dass die Länge der Codierung von nachfolgenden Messsigna len (22 ' , 22'') und damit die Sendezeitdauer von nachfol genden Messsignalen (22 ' , 22'') proportional zur ermittelten Stärke der Störsignalanteile (24.2) vorgegeben wird . that the length of the coding of subsequent Messsigna len (22 ', 22' ') and thus the transmission time of fol lowing measuring signals (22', 22 '') proportional to the determined strength of the Störsignalanteile (24.2) is specified.
Verfahren nach Anspruch 6 oder 7, Method according to claim 6 or 7,
dadurch gekennzeichnet, characterized,
dass die Codierung der nachfolgenden Messsignale (22 ' , 22'') so ausgeführt wird, dass Abstände zu erkannten Hin dernissen genau ermittelt und die Störsignalanteile the coding of the subsequent measuring signals (22 ', 22' ') is carried out in such a way that distances to detected differences are determined exactly and the interference signal components
(24.2) unterdrückt werden. (24.2) are suppressed.
Verfahren nach einem der Ansprüche 6 bis 8, Method according to one of claims 6 to 8,
dadurch gekennzeichnet, characterized,
dass das Messsignal (22 ' , 22'') zur Codierung mit that the measurement signal (22 ', 22' ') for coding with
vorgegebenen Codebitfolge moduliert wird. predetermined code bit sequence is modulated.
Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet, insbesondere zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 9, wobei eine Sende/Empfangseinheit (20) ein Messsignal (22, 22y, 22 '') mit einer vorgebbaren Codierung, einem vorgebbaren Pulswiederholintervall, einer vorgebbaren Brustlänge und einer vorgebbaren Signalfrequenz aussendet und ein resul tierendes Echosignal (24, 24y, 24/ y) zur Auswertung empfängt , Device for generating a measurement signal for vehicle environment detection, which preferably operates in the ultrasonic frequency range, in particular for carrying out the method according to one of claims 1 to 9, wherein a transmitting / receiving unit (20) a measurement signal (22, 22 y , 22 '') with a predeterminable Coding, a predefinable pulse repetition interval, a prescribable breast length and a predeterminable signal frequency emits and receives a resul animal echo signal (24, 24 y , 24 / y ) for evaluation,
dadurch gekennzeichnet,  characterized,
dass eine Auswerte- und/oder Steuereinheit (10) die Codierung und/oder Parameter des Messsignals (22, 22y, 22 '') in Abhängigkeit von in der Umgebung des Fahrzeugs vorhandener aktueller Störsignale und/oder Hindernisse vorgibt . an evaluation and / or control unit (10) specifies the coding and / or parameters of the measurement signal (22, 22 y , 22 '') as a function of current interference signals present in the surroundings of the vehicle and / or obstacles.
Vorrichtung nach Anspruch 10, Device according to claim 10,
dadurch gekennzeichnet,  characterized,
dass die Auswerte- und/oder Steuereinheit (10) vor der Fahrzeugumfelderfassung zur Ermittlung der aktuellen Störsignale über die Sende/Empfangseinheit (20) ein unco diertes erstes Messsignal (22) aussendet und ein resultierendes erstes Echosignal (24) mit Nutzsignalanteilen (24.1) und/oder Störsignalanteilen (24.2) empfängt und auswertet .  that the evaluation and / or control unit (10) prior to the vehicle environment detection for determining the current interference signals via the transmitting / receiving unit (20) emits a unco-labeled first measurement signal (22) and a resulting first echo signal (24) with Nutzsignalanteilen (24.1) and / or interference signal components (24.2) receives and evaluates.
Vorrichtung nach Anspruch 11, Device according to claim 11,
dadurch gekennzeichnet,  characterized,
dass die Auswerte- und/oder Steuereinheit (10) die Sende dauer des uncodierten ersten Messsignals (22) zur Ermitt lung der aktuellen Störsignale so vorgibt, dass ein Mess bereich zur Fahrzeugumfelderfassung maximal geöffnet ist  in that the evaluation and / or control unit (10) predetermines the transmission duration of the uncoded first measurement signal (22) for the determination of the current interference signals in such a way that a measurement range for vehicle environment detection is maximally open
13. Vorrichtung nach einem der Ansprüche 10 bis 12, 13. Device according to one of claims 10 to 12,
gekennzeichnet durch einen Signalgenerator (50) zur Erzeugung eines Trägersignals für das Messsignal (22, 22y, 22y y). marked by a signal generator (50) for generating a carrier signal for the measurement signal (22, 22 y , 22 yy ).
Vorrichtung nach einem der Ansprüche 10 bis 13, Device according to one of claims 10 to 13,
gekennzeichnet durch marked by
eine Modulationseinheit (30) zur Modulation des auszusendenden Messsignals (22, 22y, 22y y) und/oder zur Demodula- tion des empfangenen Echosignals (24y, 24y y) und einer Codiereinheit (40) zur Codierung des auszusendenden Messsignals (22y, 22y y) und zur Decodierung des empfangenen Echosignals (24y, 24y y). a modulation unit (30) for modulating the measurement signal (22, 22 y , 22 yy ) to be transmitted and / or for demodulation of the received echo signal (24 y , 24 yy ) and an encoding unit (40) for encoding the measurement signal (22 y , 22 yy ) and for decoding the received echo signal (24 y , 24 yy ).
Vorrichtung zur Fahrzeugumfelderfassung, welche vorzugsweise im Ultraschallfrequenzbereich arbeitet, mit mindestens einer Sende/Empfangseinheit (20), welche ein Messsignal (22, 22 y, 22y y) mit einem vorgebbaren Pulswiederholintervall, einer vorgegebenen Brustlänge und einer definierten Signalfrequenz aussendet und ein resultierendes Echosignal (24, 24y, 24y y) zur Auswertung empfängt, gekennzeichnet durch Device for vehicle environment detection, which preferably operates in the ultrasonic frequency range, with at least one transmitting / receiving unit (20) which emits a measuring signal (22, 22 y , 22 yy ) with a predefinable pulse repetition interval, a predetermined chest length and a defined signal frequency and a resulting echo signal ( 24, 24 y , 24 yy ) for evaluation, characterized by
mindestens eine Vorrichtung zur Generierung eines Messsignals zur Fahrzeugumfelderfassung nach einem der Ansprüche 10 bis 14. at least one device for generating a measurement signal for vehicle environment detection according to one of claims 10 to 14.
PCT/EP2011/062502 2010-08-05 2011-07-21 Method and apparatus for generating a measurement signal for detecting the surroundings of a vehicle and associated apparatus for detecting the surroundings of a vehicle WO2012016841A1 (en)

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