NON-LINEAR RECEPTION FILTER FOR AN OBJECT RECOGNITION SENSOR FOR VEHICLES, IN PARTICULAR, ULTRASONIC SENSOR

Abstract

An object recognition device for vehicles, including a sensor, a filter device and an analysis device. Signals from an object are detectable by the sensor. The detected signals are filterable by the filter device and then feedable to the analysis device. The analysis device is configured to recognize the object by analyzing the filtered signals. The filter device includes an averaging unit, which averages the profile of the amplitudes of the detected signals, and a non-linear filter unit, which is provided based on a linear low-pass filter with a variable time constant and filters the detected signals. A value profile corresponding to the difference between the averaged amplitude profile and the filtered signals is feedable to the analysis device for analyzing and recognizing the object. The variable time constant is establishable based on the difference between the filtered signals and the detected signals and based on the averaged amplitude profile.

Claims

1-10. (canceled)

11. An object recognition device for a vehicle, comprising: at least one ultrasonic sensor; a filter device; and an analysis device wherein signals from an object to be recognized are detectable by the sensor, the detected signals being filterable by the filter device, and then being feedable to the analysis device, and the analysis device being configured to recognize the object by an analysis of the fed filtered signals; wherein: average a profile of amplitudes of the detected signals, the filter device includes a non-linear filter unit, which is provided based on a linear low-pass filter with a variable time constant and is configured to filter the detected signals, a value profile corresponding to a difference between the averaged amplitude profile and the filtered signals being feedable to the analysis device for analyzing and recognizing the object, and the variable time constant being establishable based on a difference between the filtered signals and the detected signals and based on the averaged amplitude profile.

12. The object recognition device as recited in claim 11, wherein the sensor and the filter device are situated together in a shared housing.

13. The object recognition device as recited in claim 11, wherein the variable time constant is establishable with a squared deviation between the filtered signals and the detected signals, with a predefined minimum time constant, a predefined maximum time constant, a predefined tolerance width and a grade, which determines a transition between the predefined minimum time constant and the predefined maximum time constant.

14. The object recognition device as recited in claim 13, wherein the grade corresponds proportionally to an inverse of a square of an amplitude value provided in the averaged amplitude profile.

15. The object recognition device as recited in claim 13, wherein the variable time constant is establishable as the predefined maximum time constant when the squared deviation between the filtered signals and the detected signals is within a predefined tolerance width.

16. The object recognition device as recited in claim 11, wherein the averaging unit is a low-pass filter, or a unit configured to implement a method of the floating average, or a unit configured to implement a method of an adaptive threshold.

17. The object recognition device as recited in claim 11, wherein the filter unit includes a calculation component, which is configured to calculate the variable time constant, the filter unit includes a return element, which is configured to return the filtered signals with a time delay to the calculation component for establishing the variable time constant, and the filter unit includes a transmission element, which is configured to transmit the averaged amplitude profile to the calculation component for establishing the variable time constant.

18. The object recognition device as recited in claim 11, wherein the signals from the object, which is 0.1 m to 20 m away from the sensor, are detectable by the sensor.

19. The object recognition device as recited in claim 11, wherein the signals from the object, which is 1 m to 6 m away from the sensor, are detectable by the sensor.

20. The object recognition device as recited in claim 11, further comprising a further sensor, wherein optical signals are detectable by the further sensor for determining a type and condition of the object.

21. A method for recognizing an object for a vehicle, comprising the following steps: detecting signals from an object to be recognized using an ultrasonic sensor; filtering the detected signals using a filter device; feeding the filtered signals to an analysis device; analyzing the fed filtered signals using the analysis device; and recognizing the object using the analysis device, wherein: the filter device including an averaging unit, which averages a profile of amplitudes of the detected signals, the filter device includes a non-linear filter unit, which is provided based on a linear low-pass filter with a variable time constant and filters the detected signals, a value profile corresponding to a difference between the averaged amplitude profile and the filtered signals is fed to the analysis device for analyzing and recognizing the object, and the variable time constant is established based on a difference between the filtered signals and the detected signals and based on the averaged amplitude profile.

22. The method as recited in claim 21, wherein the value profile corresponding to the difference between the averaged amplitude profile and the filtered signals is processed in such a way that negative difference values are disregarded.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is explained in greater detail with reference to the exemplary embodiments schematically indicated in the figures.

[0035] FIG. 1 schematically shows a representation of one application scenario of the object recognition device according to the present invention and/or of the method according to the present invention.

[0036] FIG. 2 shows a filter device schematically depicted with a block diagram of one specific embodiment of the object recognition device according to the present invention.

[0037] FIG. 3 schematically shows a representation of two diagrams, the averaged amplitude profile of the signals detected by the sensor being depicted in the upper diagram, and the amplitude profile of the output signal of the filter device of the specific embodiment of the object recognition device according to the present invention according to FIG. 2 being depicted in the lower diagram.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0038] In the figures, identical reference numerals denote identical or functionally identical elements.

[0039] FIG. 1 is a schematic representation of one application scenario of the object recognition device according to the present invention and/or of the method according to the present invention.

[0040] A vehicle 2 enters a parking facility 8 for the purpose of parking. Approximately 3 m in front of vehicle 2 is a post 6 and located approximately 40 cm behind post 6 are bushes 4.

[0041] Using an ultrasonic sensor from the related art, post 6 may generally be easily recognized. Bushes 4, however, could not be detected therewith. The bushes simultaneously cause a multitude of sound reflections, which are unable to be differentiated from surroundings noises with such an ultrasonic sensor if the distance between vehicle 2 and bushes 4 is still relatively great.

[0042] In contrast thereto, it is possible using the object recognition device or the method according to the present invention to quickly recognize both post 6 as well as bushes 4.

[0043] FIG. 2 shows a filter device of one specific embodiment of the object recognition device according to the present invention schematically depicted with a block diagram.

[0044] Filter device 100 schematically depicted with a block diagram in FIG. 2 includes a filter inlet 10 and a filter outlet 30. The signals from at least one ultrasonic detection sequence detected by the sensor of the object recognition device according to the present invention are fed to filter inlet 10. The signals filtered by filter device 100 are fed to the analysis device.

[0045] Filter device 100 also includes an averaging unit 14, which averages the profile of the amplitudes of the detected signals. According to the specific embodiment depicted in FIG. 2, averaging unit 14 is a low-pass filter, which includes an invariable time constant 12.

[0046] Filter device 100 also includes a non-linear filter unit 24, which is provided with a variable time constant 32 based on a linear low-pass filter and filters the detected signals.

[0047] The signals filtered by non-linear filter unit 24 are fed to component 16 for differentiation with the averaged amplitude profile of the detected signals. These filtered signals are also returned via a return element 26 with a time delay to deviation calculation component 18, in which the deviation of these filtered signals and of the detected signals is calculated.

[0048] The result from deviation calculation component 18 is squared in component 20 and fed to calculation component 22, which calculates the variable time constant according to the present invention.

[0049] To calculate or establish the variable time constant, the averaged amplitude profile of the detected signals is also fed by a transmission element 28 to calculation component 22.

[0050] FIG. 3 is a schematic representation of two diagrams 40, 50. The averaged amplitude profile of the signals detected by the sensor, which results, for example, from the adaptive threshold of the related art, is depicted in upper diagram 40. The amplitude profile of the output signal of the filter device of the specific embodiment of the object recognition device according to the present invention according to FIG. 2 is depicted in the lower diagram.

[0051] The x-axes in the two diagrams are the time in seconds and the corresponding y-axes are the amplitude in dBA. In the upper diagram, the zero point of the y-axis is vertically offset.

[0052] As is shown in FIG. 3, echoes 42, which are caused due to the uneven ground condition in parking facility 8, appear between approximately 5 ms and 10 ms in the two diagrams. A strong spike 44 occurs at approximately 18 ms as a result of reflecting post 6.

[0053] Approximately 2.5 ms later, this strong echo 44 is followed by a further echo 46, which may be traced back to bushes 4 (see time window 60). This is not apparent in upper diagram 40 in accordance with the related art, but is apparent in lower diagram 50 in accordance with the object recognition device according to the present invention.

[0054] Although the present invention has been fully described above with reference to preferred exemplary embodiments, it is not limited thereto, but is modifiable in a variety of ways. The variable time constant indicated is, in particular, explained merely as an example and not as restricting.