CN103713290A - Method, system, and device used for reducing object report errors of driving assistant characteristics - Google Patents
Method, system, and device used for reducing object report errors of driving assistant characteristics Download PDFInfo
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- 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
- G01S7/52004—Means for monitoring or calibrating
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- 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
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- 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
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- 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
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- G01S7/52006—Means for monitoring or calibrating with provision for compensating the effects of temperature
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- 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
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- G01S2007/52007—Means for monitoring or calibrating involving adjustment of transmitted power
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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Abstract
The vehicle comprises an ultrasonic sensor used for providing object detection characteristics of adjacent vehicles, a humidity level information source used for displaying the humidity level characteristics of the air around the adjacent vehicles, an air temperature information source used for providing the information about the air temperature characteristics, and an information processing unit., which is connected with the above mentioned units, and is used to receive the information from the same. The information processing unit is calibrated at least partially based on the information setting and the information processing representing the humidity and the temperature. The information processing unit is used to process the information output by the ultrasonic sensor based on the specific standard references assigned by the information processing calibration of the detected object. The information processing calibration can be used to set the value representing the sound pressure attenuation variance of the humidity level and the temperature level of the air of the adjacent vehicles.
Description
Technical field
The present invention relates in general to the use of the Ultrasonic Sensor Data in automobile application, is specifically related to compensating operation parameter, to improve the performance of ultrasonic sensor and process the information by its output in automobile application.
Background technology
Well-known ultrasonic sensor is used to carry out assisting vehicle driver in many driving assistance application.One is driven assistance application is to detect the object correlation that driver may not recognize when vehicle backing.Another drives assistance application is at vehicle, to help during in parking auxiliary mode driver to determine that suitable parking place can use.By the distance with between a plurality of ultrasonic sensor inspected object and definite this object and sensor, realize these and drive assistance application.
Due to the variation of temperature and/or the humidity (the namely temperature of the extraneous air of vehicle periphery and/or humidity) of extraneous air, the ability of ultrasonic sensor inspected object can be adversely affected.The variation of temperature and humidity has a direct impact the fade performance of extraneous air, and this just affects the ability of ultrasonic sensor inspected object.For the sensing performance that helps the to alleviate this ultrasonic sensor variability based on temperature, Vehicular system typically utilizes the variation that carrys out compensation temperature to the external air temperature data of vehicle driver demonstration external temperature, because the variation of temperature relates to the performance of ultrasonic sensor.Yet, implement at present the direct method of the variation of the extraneous air fade performance that assessment extraneous air humidity and compensation cause due to the variation of temperature and humidity.
Therefore, in order to increase the detectability of object and the distance of report, at least in part the acoustic pressure fade performance based on change the air of the vehicle periphery causing due to temperature and/or humidity (the namely temperature of extraneous air) adjust the detectability of the ultrasonic sensor in automobile application and standard be useful, satisfy the demand with useful.
Summary of the invention
The sound pressure signal intensity that the embodiment of theme of the present invention sends for adjustment and the information (for example signal) of implementing to use for ultrasonic sensor are processed calibration, preferably in automobile application.Especially, the embodiment of theme of the present invention for determine vehicle periphery extraneous air acoustic pressure decay feature and adjust signal strength threshold, and be adjusted to alternatively the transmit signal strength of small part based on the extraneous air condition information information of the air regime of vehicle periphery (namely corresponding to).The example of this extraneous air condition information includes but not limited to temperature, pressure and humidity.In aspect of theme of the present invention, by being provided for processing the information processing calibration parameter (namely ultrasonic sensor signal is processed) of ultrasonic sensor output signal, may provide the sensor performance of the object detection about ultrasonic sensor of improvement.By further reading instructions, relevant drawings and appending claims below, the object of these and other of theme of the present invention, embodiment, advantage and/or difference will become apparent.
In an embodiment of theme of the present invention, the method for the obstacle reporting errors of the auxiliary system for parking of minimizing vehicle comprises a plurality of operations.Executable operations, represents the air humidity of adjacent vehicle and the information of temperature levels feature to provide.Executable operations, processes calibration with at least part of ground in the configuration information of coming that represents the information of humidity and temperature horizontal properties.The value of expression corresponding to the feature of the acoustic pressure decay variance of the level of humidity and temperature value specifically specified in information processing calibration.Executable operations, processes the information of the ultrasonic sensor output being arranged on vehicle in the calibration parameter of being calibrated concrete appointment by the information processing of inspected object with at least part of ground.The information that processing is exported by ultrasonic sensor comprises the impact of level on acoustic pressure decay that compensates humidity and temperature by the value that represents acoustic pressure decay Variance feature, and under this acoustic pressure decay, ultrasonic sensor uses object sensing input object.One or more data processing equipments obtain instruction from being couple to the storer of one or more data sets, so that these one or more data processing equipments are carried out these operations.
In an embodiment of theme of the present invention, vehicle comprises for the ultrasonic sensor of information of the detected characteristics of the object that represents adjacent vehicle is provided, for humidity level's information source of information of humidity level's feature of the air that represents adjacent vehicle is provided, for the air themperature information source of the information of the air themperature feature that represents adjacent vehicle is provided, and information process unit, this information process unit is couple to ultrasonic sensor to receive the information of the detected characteristics of the object that represents adjacent vehicle, be couple to humidity level's information source to receive the information of the air moisture level feature that represents adjacent vehicle, and be couple to air themperature horizontal information source to receive the information of the air themperature feature that represents adjacent vehicle.The information process unit at least partly information configuration information based on representing humidity and temperature horizontal properties is processed calibration.Information process unit is the information based on processed ultrasonic sensor output by the calibration parameter of calibrating concrete appointment for detection of the information processing of object at least partly.The value of the corresponding acoustic pressure decay of the humidity and temperature level Variance feature of the air of the concrete appointment expression of information processing calibration and adjacent vehicle.
In an embodiment of theme of the present invention, the information process unit of the auxiliary system for parking of vehicle comprises for receiving from the information interface of the information of a plurality of information sources and the message handler that couples with information interface for receiving from the information of information source.First information source provides the information of humidity level's feature of the air that represents adjacent vehicle.Second information source provides the information of the air themperature feature that represents adjacent vehicle.The 3rd information source comprises ultrasonic sensor.The message handler at least partly information configuration information based on representing humidity and temperature horizontal properties is processed calibration.Message handler is the information based on processed ultrasonic sensor output by the calibration parameter of calibrating concrete appointment for detection of the information processing of object at least partly, and information processing calibration is concrete specifies the value representing with the corresponding acoustic pressure decay of the humidity and temperature level Variance feature of the air of adjacent vehicle.
In an embodiment of theme of the present invention, the electronic controller system of vehicle has the one group of instruction being included in substantially on permanent readable processor medium.At least one data processing equipment by electronic controller system can obtain this group instruction from permanent readable processor medium, to carry out decipher at this.Configuring this group instruction makes at least one data processing equipment carry out a plurality of operations.Executable operations, to provide the information of the humidity and temperature horizontal properties of the air that represents adjacent vehicle.Executable operations, comes configuration information to process calibration with at least part of ground in the information that represents humidity and temperature horizontal properties.The value of the feature of expression and the corresponding acoustic pressure decay of humidity and temperature level value variance has specifically been specified in information processing calibration.Executable operations, with at least part of ground in the information of being processed the ultrasonic sensor output being arranged on vehicle by the calibration parameter of calibrating concrete appointment for detection of the information processing of object.The information of processing ultrasonic sensor output comprises uses the value that represents acoustic pressure decay Variance feature to compensate the impact of humidity and temperature level on acoustic pressure decay, and under this acoustic pressure decay, ultrasonic sensor uses object sensing input object.
By further reading instructions, relevant drawings and claims below, theme these and other objects of the present invention, embodiment, advantage and/or feature will become apparent.
Accompanying drawing explanation
Fig. 1 means the schematic diagram of the vehicle of embodiment configuration according to the inventive subject matter.
Fig. 2 means the block diagram of the function element of the vehicle in Fig. 1.
Fig. 3 means the curve map that the illustrative as the sound pressure level attenuation coefficient of the relative humidity level of air and the function of air themperature represents.
Fig. 4 means the curve map that the illustrative as the sound pressure level attenuation coefficient of the relative humidity level of air and the function of relative air pressure represents.
Fig. 5 means the curve map that the illustrative as the velocity of sound of the relative humidity level of air and the function of air themperature represents.
Fig. 6 means the curve map that the illustrative of the acoustic response characteristic of the signal of exporting with the first signal intensity calibration ultrasonic sensor corresponding, in Fig. 1 of the ultrasonic sensor operating under the first air acoustic pressure decay environment represents.
Fig. 7 means the curve map that the illustrative of the acoustic response characteristic of the signal of exporting with the first signal intensity calibration SSC1 ultrasonic sensor corresponding, in Fig. 1 of the ultrasonic sensor operating under being greater than the second air acoustic pressure decay environment of the first air acoustic pressure decay environment represents.
Fig. 8 means the curve map that the illustrative of the acoustic response characteristic of the signal of exporting with the secondary signal intensity calibration ultrasonic sensor corresponding, in Fig. 1 of the ultrasonic sensor operating under the second air acoustic pressure decay environment represents.
Fig. 9 means that embodiment is according to the inventive subject matter for realizing the process flow diagram of the method for air acoustic pressure variance compensate function.
Embodiment
Fig. 1 and Fig. 2 are the vehicles 100 of embodiment configuration according to the inventive subject matter.Vehicle 100 comprises external air temperature sensor 105 (namely first sensor), ultrasonic sensor 115 (namely the second sensor), humidity sensor 119 (namely the 3rd sensor) and signal (namely information) processing unit 120.Signal processing unit 120 is connected (for example can between these sensors) with external air temperature sensor 105, ultrasonic sensor 115 and humidity sensor 119.Signal processing unit 120 can be electronic controller system 125 black box of (as shown in Figure 2), and the control to the various difference in functionality systems of vehicle 100 is implemented and/or supported to electronic controller system 125.The installation site of external air temperature sensor, ultrasonic sensor, humidity sensor and signal processing unit is known, there is no need to limit about the embodiment of theme of the present invention.
The embodiment of theme of the present invention is not limited to and obtains or estimate to represent the around any specific method of information or the embodiment of weather conditions feature.In some embodiments, represent that the information of weather conditions feature directly obtains from sensor (such as humidity sensor, external air temperature sensor etc.) separately around.Yet the embodiment of theme of the present invention can or estimate that from indirect acquisition the source of weather conditions obtains this information around.For example, vehicle also can comprise that the on-vehicle information coupling with signal processing unit 120 obtains system 121.The system 121 of obtaining on-vehicle information plays the effect with remote information source (such as global positioning information, weather information etc.) communication interface.On-vehicle information obtain system 121 by radio communication connect, for example cellular communication connection and/or satellite communication connect and receive from the information of this remote information source and transmission information to this remote information source.On this point, on-vehicle information obtains system 121 and provides from any onboard sensor (such as height of car, ambient air pressure, temperature and humidity etc.) or be incorporated into the not obtainable information in out of Memory source of vehicle 100 to signal processing unit 120.Therefore, on-vehicle information obtains the information of feature that system 121 can be used for providing the environmental conditions of the environment that represents vehicle 100 processes.
And in view of content disclosed herein, those skilled in the art should be understood that other existing sensor of vehicle and system can be used for obtaining or estimate to represent the information of weather conditions feature around.For example, current many vehicles have interior humidity sensor in passenger compartment.Given hard and fast rule and criterion are as input, use the specific propagation function of vehicle, this interior humidity sensor (for example can be used for estimating extraneous air humidity, if fall window and close heating,ventilating,air conditioning system (HVAC) and can use this information, otherwise use by on-vehicle information, obtain the information that system 121 or portable digital equipment, for example smart mobile phone obtain).Had been found that before opening air-conditioning (A/C) system, from the effective humidity sensor signal of interior humidity sensor, can use a few minutes, when A/C opens, this signal reduces by 20%.In addition, relevant wiper state, rain sensor, for identifying the information such as radar, vision system of rainwater, also can use, to set up backoff algorithm and to adjust threshold value based on relating to the decay of weather conditions around such as rainwater, snow.
External air temperature sensor 105 can be arranged on the position between the crew module 129 of vehicle 100 and the front bumper of vehicle 100 lid 130, be for example arranged in the front grid opening 135 of vehicle 100 or next-door neighbour before on the bumper lid support 132 of grid opening 135.External air temperature sensor 105 outputs represent the signal of vehicle 100 ambient air temperature profiles.Particularly, external air temperature sensor 105 output represent around or the front bumper of the vehicle 100 of flowing through cover the signal (namely at least a portion of this air is around crew module 129) of 130 ambient air temperature profiles.
Preferably, ultrasonic sensor 115 be mounted in the front portion structure of vehicle 100, for example, for the front bumper lid 130 of sensor forward and the outside sensor on bumper lid support 132 (namely backward, sensor) to side or forward.In this mounting structure, when vehicle 100 is static or enough during applicable duration of slow movement, ultrasonic sensor 115 will be exposed to from the hot-air in nacelle 138.The installation site of ultrasonic sensor and its operability are known, there is no need to limit about the embodiment of theme of the present invention.
Configuration signal processing unit 120 is to detect the object of adjacent vehicle 100 and to determine the distance between ultrasonic sensor 115 (or reference position of other appointment) and this object.The information (for example signal) of exporting according to ultrasonic sensor 115 also for example, is processed calibration according to the information (signal) of signal processing unit 120 and is carried out this definite.Signal processing unit 120 can be arranged on the chassis structure 150 of vehicle 100.
Advantageously, the embodiment of theme of the present invention is to realize with acoustic pressure decay variance yields the information processing that ultrasonic sensor provides, and this acoustic pressure decay variance yields is for example, information based on representing external air conditions (humidity and temperature) feature of adjacent vehicle at least in part.Disclosed herein is, in conjunction with the external air temperature of signal strength calibrated and humidity are changed to adjustment, the intensity of the signal that ultrasonic sensor 115 sends can be adjusted according to the variation of temperature and humidity, is intended to improve the detection of adjacent vehicle object.
Will more detailedly discuss below, signal processing unit 120 provides the signal from external air temperature sensor 105, ultrasonic sensor 115 and humidity sensor 119 (namely information) processing capacity.Alternatively, signal processing unit 120 can provide the processing capacity to obtain the signal of system 121 from on-vehicle information (for example Remote Acquisitioning represents the information of weather conditions feature around), to realize this information processing calibration function according to the inventive subject matter.Information processing calibration function according to the inventive subject matter comprises the calibration function of relevant acoustic pressure decay variance and adjusts threshold sensitivity and adjust alternatively the signal intensity that ultrasonic sensor sends.
As shown in Figure 2, in one embodiment, signal processing unit 120 comprises data processing equipment 133 and the storer 137 coupling with data processing equipment 133.Data processing equipment 133 can for example, from storer 137 obtaining informations (sensor signal) processing instruction 143 and signal intensity and threshold value calibration information 147.Data processing equipment 133 and storer 137 are examples for the data processor of embodiment configuration according to the inventive subject matter.In addition, controller local area network 139 is examples of information interface, by this information interface, from the information of a plurality of information sources, directly or indirectly offers signal processing unit 120.From the sensor of vehicle 100 and all or part information of system, can offer signal processing unit 120 by controller local area network 139.In this regard, those skilled in the art should be understood that, method, process and/or the operation that is configured to carry out information processing calibration function disclosed herein is included in computer-readable medium substantially, has the instruction that is configured to carry out this function in this computer-readable medium.
Airborne signal intensity attenuation is that the various components by molecule absorption cause, molecule absorption is to be caused by air by object sensing signal.Although the mechanism of molecule absorption is quite complicated, important being classified as of molecule absorption: classical absorption, rotational relaxation and vibration relaxation.Vibration relaxation is mainly energy of vibration to be converted into the result of translation energy in the sensing signal spatial process of object, vibration relaxation be with according to the fundamental component of the relevant molecule absorption of the signal attenuation of air humidity and temperature.
Vibration relaxation decay is the function of two relaxation frequencies in air: oxygen relaxation frequency and nitrogen relaxation frequency.Humidity relatively high under known given air themperature increases by two relaxation frequencies, therefore reduces decay.On the contrary, on acoustic pressure, decay has relatively little impact to air pressure.The illustrative example on the impact of acoustic pressure decay as humidity and air themperature, Fig. 3 means the curve 300 that the illustrative as the sound pressure level of the function of relative air humidity level and air themperature (SPL) attenuation coefficient represents, Fig. 4 means the curve 400 that the illustrative as the sound pressure level of the function of relative air humidity level and air pressure (SPL) attenuation coefficient represents, Fig. 5 means the curve 500 that the illustrative as the velocity of sound of the function of relative air humidity level and air themperature represents.From chart 300, can find out, SPL attenuation coefficient (signal namely receiving is described with respect to the feature of the signal intensity decline of the signal intensity (namely reference signal strength) of the signal sending accordingly) rises along with the increase of relative humidity at first, then for about 15 degrees Celsius of above temperature, SPL attenuation coefficient is along with relative humidity continues to increase and declines.Under for example lower than the low temperature of 0 degree Celsius, particularly, when temperature is during lower than 20 degrees Celsius, humidity has relatively little impact to decay.From curve 400, can find out, SPL attenuation coefficient (signal namely receiving is described with respect to the feature of the signal intensity decline of the signal intensity (namely reference signal strength) of the signal sending accordingly) rises along with the increase of relative humidity, but than the variation of relative humidity and air themperature, SPL attenuation coefficient is had to significantly less impact.As can be seen from Figure 5, the increase velocity of sound along with the relative humidity at given temperature increases slightly.Therefore, those skilled in the art should be understood that, if not compensation the process of processing the signal receiving from ultrasonic sensor, this ultrasonic sensor sends object sensing signal and after being reflected by the object, receives object sensing signal, so, the relative humidity of air that object sensing signal passes and the variation of temperature are on the object detection of APA system and distance report performance and have bad impact to depending on other system of the accuracy of this detection and function of reporting.Be equally applicable to this situation that first sensor sends object sensing signal and the second ultrasonic sensor receives object sensing signal after object reflection.
Referring now to Fig. 6-8, it has represented the object sensing characteristic as the typical ultrasonic sensor of the function of the loss of signal strength causing due to acoustic pressure decay and distance.As everyone knows, this typical ultrasonic sensor will send the acoustic signal of given frequency and intensity, and then sensing impacts the energy away from the acoustic signal of the object of ultrasonic sensor the reflection that produces from its reflection by the acoustic signal that sends.By know total two-way time (time of the object namely impacting and the time of getting back to sensor from object) of acoustic signal that send and reflection from sensor to signal, can determine distance between sensor and object (namely using sound to pass through the so known constant of speed of the fluid media (medium) that signal passes).Ultrasonic sensor is by the electric signal of the energy feature of the acoustic signal of output expression reflection.U.S. Patent number is 8,104,351,8,081, and 539,7,343,803 and 6,792,810 disclose the example of the typical ultrasonic sensor of this automobile application that is generally used for object detection and range finding.Theme of the present invention there is no need to be restricted to the structure of any specific ultrasonic sensor or ultrasonic sensor.
Fig. 6 has represented the curve 600 that the illustrative of the acoustic response characteristic of the signal exported by ultrasonic sensor accordingly with first signal intensity calibration SSC1 (namely relative low sensitivity calibration for available signal intensity calibration) represents.The acoustics return signal of the electric signal of being exported by ultrasonic sensor and reflection represented under given extraneous air acoustic pressure Reduction Level and signal strength calibrated and the acoustic signal of the reflection under background signal output energy in relative energy level.Can find out, for given extraneous air acoustic pressure Reduction Level, calibration and signal output energy condition, in acoustic signal travel-time T (1), the T (2) of reflection and T (3), signal strength calibrated value SSC1 (SPL (1)), SSC1 (SPL (1)) separately and SSC1 (SPL (1)) are well below peak signal strength SS (T (1)), SS (T (2)) and SS (T (3)) under this time.Preferably but not necessarily, the acoustic signal travel-time T (0) of reflection represents excitation ultrasound wave sensor so that the time that the acoustic signal of transmitting is issued therefrom.Signal strength calibrated value has represented acoustic signal in the appointment signal strength level in the travel-time, this time is the required time of acoustic signal of ultrasonic sensor sensing reflection, is the appointment acoustic signal travel-time that is recorded/is identified as the distance of object sensing simultaneously.Therefore, at, ultrasonic sensor, can under the calibration parameter of detection-sensitive distance, provide acceptable signal sensing performance accordingly at given extraneous air acoustic pressure Reduction Level and with acoustic signal travel-time T (1), the T (2) of reflection and T (3).
The curve 700 that Fig. 7 has represented is corresponding with the first signal intensity calibration SSC1 having the ultrasonic sensor operating under the second extraneous air acoustic pressure Reduction Level of high-energy absorption rate, the illustrative of the acoustic response characteristic of signal that exported by ultrasonic sensor represents.The electric signal being sent by ultrasonic sensor has represented under given extraneous air acoustic pressure Reduction Level and signal strength calibrated and the relative energy level within the illustrative in Fig. 6 represents the acoustic signal of the reflection under the identical baseline transmitting acoustic signal intensity of associating use.Can find out, for given temperature, calibration and signal output energy condition, the signal strength calibrated value SSC1 (SPL (2)) in the acoustic signal travel-time T (1) of reflection is acceptably lower than the peak signal strength in the acoustic signal travel-time T (1) in reflection.Yet, for given temperature, calibration and signal output energy condition, the acoustic signal travel-time T (2) of reflection and the signal strength calibrated value SSC1 separately (SPL (2)) in T (3) and SSC1 (SPL (2)) can not receive lower than the acoustic signal travel-time T (1) and the T (2) that are reflecting) in peak signal strength.Therefore, ultrasonic sensor can given extraneous air acoustic pressure Reduction Level and with the calibration parameter of the corresponding detection-sensitive distance of acoustic signal travel-time T (1) of reflection under acceptable signal sensing performance is provided, but under the calibration parameter of detection-sensitive distance, can not provide acceptable signal sensing performance accordingly at given extraneous air acoustic pressure Reduction Level and with the acoustic signal travel-time T (2) of reflection and T (3).The final performance of the ultrasonic sensor under the condition of Fig. 4 will be underestimated the distance with the acoustic signal travel-time T (2) reflecting and the corresponding object of T (3).
Fig. 8 has represented and has had the curve 800 that the secondary signal intensity calibration SSC2 (namely relative high sensitivity calibration with regard to first signal intensity calibration) that operates ultrasonic sensor under the second extraneous air acoustic pressure Reduction Level of high-energy absorption rate is corresponding, the illustrative of the acoustic response characteristic of the signal exported by ultrasonic sensor represents.The electric signal being sent by ultrasonic sensor has represented in given extraneous air acoustic pressure Reduction Level and signal strength calibrated and the relative energy level within the illustrative in Fig. 6 and Fig. 7 represents the acoustic signal of the reflection under the intensity of identical baseline transmitting acoustic signal of associating use.Can find out, for given temperature, calibration and signal output energy condition, at acoustic signal travel-time T (1), the T (2) of reflection and the value of the signal strength calibrated separately S SC2 (SPL (2)) in T (3), S SC2 (SPL (2)) and S SC2 (SPL (2)) far away higher than the peak signal strength within this time.Therefore, ultrasonic sensor can provide acceptable signal sensing performance at given temperature and under the calibration parameter of acoustic signal travel-time T (1), T (2) with reflection and the corresponding detection-sensitive distance of T (3).
Fig. 9 has represented that embodiment is according to the inventive subject matter for realizing the method 900 of air acoustic pressure variance compensate function.Carry out this variance compensate function, for example, in order that the impact of surrounding's weather conditions of (its ultrasonic sensor) while explaining inspected object by the information of flight time of object sensing signal.By having on it for relying on data processing equipment and relevant storer to carry out the computer-readable medium of the instruction of this function, implementation method 900 palpably.By execution, be used for receiving the air themperature feature that represents adjacent vehicle information operation 905 and carry out for receiving the operation 910 of the information of the air moisture level feature that represents adjacent vehicle and receive configuration information and process the required information of calibration, this information processing is aligned in and in handled object sensing signal, makes for based on weather conditions inspected object around.The embodiment of theme of the present invention is not restricted to any specific for method or the device of this humidity and temperature information are provided.Can using from the form of the signal of sensor separately, as the form of the signal from Information Acquisition System, provide this humidity and temperature information, and/or can be from one or more vehicle-mounted sources or the relevant information that obtains of the remote source this humidity and temperature information of deriving/estimate.
In response to receiving humidity and temperature information, executable operations 915 comes configuration information to process calibration with at least part of ground in humidity and temperature information.The basic goal of this calibration is to determine air acoustic pressure coefficient and the calibration information that will use, for example, to determine whether revising object detection signal strength threshold (signal strength threshold of one group of specific range) and/or ultrasound wave transmits level to improve object detection ability.Configuration information is processed after calibration, and in response to executable operations 920, to receive object detection requirement, executable operations 925 is to start the example of ultrasonic sensor object detection signal transmitting.Sort signal transmitting relates to from ultrasonic sensor (or transceiver of other applicable type) sends object sensing signal, then at identical and/or different ultrasonic sensor, receives the part object sensing signal of reflection.In a preferred embodiment, can be adjusted into selectively the known background intensity of a plurality of different signal intensities, send object sensing signal.
Then, executable operations 930 is to receive the object detection information from one or more ultrasonic sensors, this ultrasonic sensor receives the part object sensing signal of reflection, next executable operations 935, to process by the parameter of concrete appointment in information processing calibration the object detection information of being exported by one or more ultrasonic sensors.For example, each of one or more ultrasonic sensors can provide the signal (for example, about flight time of the object reflection of the appropriate section of sent object sensing signal information) that can therefrom determine the distance between reference position and object.
In aforementioned detailed instructions,, with reference to the accompanying drawing that forms a part for instructions, wherein with illustrative approach, shown the concrete embodiment that can put into practice theme of the present invention.Enough detailed description these embodiments and their some distortion so that those skilled in the art can implement the embodiment of theme of the present invention.Should be understood that, can use other applicable embodiment, can make logic, machinery, chemistry and variation electricity of the spirit or scope that do not depart from the disclosure of invention.For fear of unnecessary details, instructions has omitted some information well known by persons skilled in the art.Therefore, aforementioned detailed explanation is not the concrete form of listing here in order to be restricted to, and on the contrary, is in order to cover this interchangeable scheme in the spirit and scope that can reasonably be included in appended claims, the content of revising and being equal to.
Claims (10)
1. for reducing a method for barrier reporting errors in vehicle auxiliary system for parking, it is characterized in that, comprise:
At least one data processing equipment obtains instruction from the storer coupling with at least one data processing equipment, and this instruction makes at least one data processing equipment that the information of the humidity and temperature horizontal properties of the air that represents adjacent vehicle is provided;
At least one data processing equipment obtains instruction from storer, this instruction make at least one data processing equipment at least in part the information based on representing humidity and temperature horizontal properties come configuration information to process calibration, the concrete value representing with the feature of the corresponding acoustic pressure decay of humidity and temperature level variance of specifying of information processing calibration wherein; And
At least one data processing equipment obtains instruction from storer, this instruction is processed by the information that is arranged on the ultrasonic sensor output on vehicle at least one data processing equipment at least in part based on calibration parameter, this calibration parameter is by concrete appointment of information processing calibration for detection of object, the information that wherein makes at least one data processing equipment process ultrasonic sensor output comprises that at least one data processing equipment is used represents that the value of acoustic pressure decay Variance feature compensates the impact of humidity and temperature level on acoustic pressure decay, the object sensing signal that ultrasonic sensor uses is inspected object under this acoustic pressure decay.
2. method according to claim 1, it is characterized in that, make at least one data processing equipment at least in part the information based on representing humidity and temperature horizontal properties come configuration information to process calibration to comprise and make at least one data processing equipment process and calibration, select specific information processing calibration from a plurality of available informations.
3. method according to claim 2, is characterized in that,
Each available information is processed the concrete analog value that represents acoustic pressure decay Variance feature of specifying of calibration; And
The analog value that customizing messages is processed the expression acoustic pressure decay Variance feature of calibration means for compensating the value of acoustic pressure decay Variance feature of the impact of humidity and temperature level.
4. method according to claim 2, is characterized in that, each available information is processed the concrete signal strength threshold of specifying for a plurality of different detection-sensitive distances of calibration.
5. method according to claim 1, is characterized in that, at least one data processing equipment is provided represent the information of humidity level's feature to comprise following at least one:
The signal that makes to be arranged on the humidity sensor output on vehicle is sampled; And
Make the on-vehicle information of vehicle obtain system from obtain the information that represents humidity level's feature away from the information source of vehicle.
6. a vehicle, is characterized in that, comprises:
Ultrasonic sensor, it is for providing the information of the detected characteristics of the object that represents adjacent vehicle;
Humidity level's information source, it is for providing the information of the air moisture level feature that represents adjacent vehicle;
Air themperature information source, it is for providing the information of the air themperature feature that represents adjacent vehicle; And
Information process unit, this information process unit is couple to ultrasonic sensor to receive the information of the detected characteristics of the object that represents adjacent vehicle, be couple to humidity level's information source to receive the information of the air moisture level feature that represents adjacent vehicle, and be couple to air themperature information source to receive the information of the air themperature feature that represents adjacent vehicle, wherein information process unit at least in part the information based on representing humidity and temperature horizontal properties come configuration information to process calibration, the information process unit information based on processed ultrasonic sensor output by the calibration parameter of calibrating concrete appointment for detection of the information processing of object at least in part wherein, and the concrete value representing with the corresponding acoustic pressure decay of the humidity and temperature level Variance feature of the air of adjacent vehicle of specifying of information processing calibration wherein.
7. vehicle according to claim 6, it is characterized in that, the information of processing ultrasonic sensor output by the value that represents acoustic pressure decay Variance feature compensates the impact of humidity and temperature level on acoustic pressure decay, and the object sensing signal that ultrasonic sensor uses is inspected object under this acoustic pressure decay.
8. vehicle according to claim 6, is characterized in that, humidity level's information source is one of following:
Be arranged on the humidity sensor on vehicle; And
The on-vehicle information of vehicle obtains system, and it is operationally from obtaining the information that represents humidity level's feature away from the information source of vehicle.
9. vehicle according to claim 6, is characterized in that, information process unit configuration information is processed calibration and comprised that information process unit selects specific criteria for information processing from a plurality of available information processings calibrations.
10. vehicle according to claim 9, is characterized in that,
The concrete analog value that represents acoustic pressure decay Variance feature of specifying of each available information processing calibration; And
The analog value of the expression acoustic pressure decay Variance feature of specific information processing calibration means for compensating the value of acoustic pressure decay Variance feature of the impact of humidity and temperature level.
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| US201213645549A | 2012-10-05 | 2012-10-05 | |
| US13/645,549 | 2012-10-05 |
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| CN103713290A true CN103713290A (en) | 2014-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310454158.1A Pending CN103713290A (en) | 2012-10-05 | 2013-09-29 | Method, system, and device used for reducing object report errors of driving assistant characteristics |
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| Country | Link |
|---|---|
| CN (1) | CN103713290A (en) |
| DE (1) | DE102013219680A1 (en) |
| RU (1) | RU145961U1 (en) |
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| CN104076364A (en) * | 2014-07-15 | 2014-10-01 | 哈尔滨工业大学 | Automobile obstacle detection system based on ultrasonic positioning technology |
| CN105629215A (en) * | 2014-10-27 | 2016-06-01 | 同致电子科技（厦门）有限公司 | Vehicle ultrasonic sensor correction method and system |
| CN107153187A (en) * | 2016-03-02 | 2017-09-12 | 福特全球技术公司 | Ultrasonic distance is corrected |
| CN107917956A (en) * | 2016-10-05 | 2018-04-17 | 福特环球技术公司 | System and method for humidity determination and use thereof |
| CN107917007A (en) * | 2016-10-05 | 2018-04-17 | 福特环球技术公司 | The system and method determined for humidity and its use |
| CN109131314A (en) * | 2017-06-16 | 2019-01-04 | 大众汽车有限公司 | For supporting the method and system of the manipulation process of motor vehicle |
| CN110709729A (en) * | 2017-06-06 | 2020-01-17 | 三菱电机株式会社 | Object detection device |
| CN110703233A (en) * | 2019-10-17 | 2020-01-17 | 苏州优达斯汽车科技有限公司 | Temperature and humidity compensation method for sensitivity of ultrasonic sensor |
| CN112285679A (en) * | 2020-10-14 | 2021-01-29 | 纵目科技（上海）股份有限公司 | Ultrasonic sensor adjustment method, distance measurement method, medium, and electronic device |
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| CN107917956B (en) * | 2016-10-05 | 2022-03-29 | 福特环球技术公司 | System and method for humidity determination and use thereof |
| CN107917956A (en) * | 2016-10-05 | 2018-04-17 | 福特环球技术公司 | System and method for humidity determination and use thereof |
| CN107917007A (en) * | 2016-10-05 | 2018-04-17 | 福特环球技术公司 | The system and method determined for humidity and its use |
| CN110709729A (en) * | 2017-06-06 | 2020-01-17 | 三菱电机株式会社 | Object detection device |
| CN109131314A (en) * | 2017-06-16 | 2019-01-04 | 大众汽车有限公司 | For supporting the method and system of the manipulation process of motor vehicle |
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| CN110703233A (en) * | 2019-10-17 | 2020-01-17 | 苏州优达斯汽车科技有限公司 | Temperature and humidity compensation method for sensitivity of ultrasonic sensor |
| CN112285679A (en) * | 2020-10-14 | 2021-01-29 | 纵目科技（上海）股份有限公司 | Ultrasonic sensor adjustment method, distance measurement method, medium, and electronic device |
Also Published As
| Publication number | Publication date |
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| DE102013219680A1 (en) | 2014-06-12 |
| RU145961U1 (en) | 2014-09-27 |
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