Ultrasonic system of a vehicle for determining the condition of the roadway
An ultrasonic system of a vehicle. The ultrasonic system includes: at least one ultrasonic sensor for ascertaining a distance of objects from the vehicle by comparing an emitted signal and a reflected echo, and a calculation apparatus for evaluating a measured signal of the ultrasonic sensor. The calculation apparatus is configured to determine a variance of a ground echo distribution within a roadway portion on which the vehicle is moving, and to ascertain the condition of the roadway portion on the basis of at least one predefined classifier that associates individual values of the variance with a roadway condition.
1 . An ultrasonic system of a vehicle, comprising:
at least one ultrasonic sensor configured to ascertain a distance of objects from the vehicle by comparing an emitted signal and a reflected echo; and
a processor configured to:
evaluate a measured signal of the ultrasonic sensor;
determine a variance of a ground echo distribution within a roadway portion on which the vehicle is moving;
ascertain a condition of the roadway portion based on at least one predefined classifier that associates individual values of the variance with a roadway condition;
determine the variance proportionally from a matching factor of the emitted signal and a ground echo
calculate an unsteadiness value, wherein the condition of the roadway portion is ascertained based on an association of the unsteadiness value with the at least one predefined classifier, wherein the unsteadiness value is derived from at least one of a maximum, minimum, variance, median, mean, skew and/or kurtosis of the ground echo;
determine the variance based on peak levels in a specific distance range of the ultrasonic sensor in which a probability of occurrence of the ground echoes is greatest; and
recognize an object when at least one of an amplitude of the echo and the matching factor exceeds a predefined threshold value.
2 . A vehicle, comprising:
an ultrasonic system, including:
at least one ultrasonic sensor configured to ascertain a distance of objects from the vehicle by comparing an emitted signal and a reflected echo; and
a processor configured to:
evaluate a measured signal of the ultrasonic sensor;
determine a variance of a ground echo distribution within a roadway portion on which the vehicle is moving;
ascertain a condition of the roadway portion based on at least one predefined classifier that associates individual values of the variance with a roadway condition;
determine the variance proportionally from a matching factor of the emitted signal and a ground echo;
calculate an unsteadiness value, wherein the condition of the roadway portion is ascertained based on an association of the unsteadiness value with the at least one predefined classifier, wherein the unsteadiness value is derived from at least one of a maximum, minimum, variance, median, mean, skew and/or kurtosis of the ground echo,
determine the variance based on peak levels in a specific distance range of the ultrasonic sensor in which a probability of occurrence of the ground echoes is greatest; and
recognize an object when at least one of an amplitude of the echo and the matching factor exceeds a predefined threshold value.
3 . The vehicle as recited in claim 2 , wherein a driver assistance function and/or an autonomous driving function of the vehicle is executed, and the driver assistance function and/or the autonomous driving function is adapted to the ascertained condition of the roadway portion.
4 . The vehicle as recited in claim 3 , wherein a maximum speed of the vehicle is specified based on the ascertained condition of the roadway portion.
5 . The vehicle as recited in claim 2 , wherein a warning to a driver of the vehicle is output when a risk to the vehicle exists as a result of the ascertained condition of the roadway portion.
6 . A method for detecting a condition of a roadway portion based on at least one ultrasonic sensor of a vehicle, the ultrasonic sensor being configured to ascertain a distance of objects from the vehicle by comparing an emitted signal and a reflected echo, the method comprising the following steps of:
determining a variance of a ground echo distribution within a roadway portion on which the vehicle is moving; and
ascertaining the condition of the roadway portion based on at least one predefined classifier that associates individual values of the variance with a roadway condition,
wherein the variance is determined proportionally from a matching factor of the emitted signal and a ground echo;
calculate an unsteadiness value, wherein the condition of the roadway portion is ascertained based on an association of the unsteadiness value with the at least one predefined classifier, wherein the unsteadiness value is derived from at least one of a maximum, minimum, variance, median, mean, skew and/or kurtosis of the ground echo,
determine the variance based on peak levels in a specific distance range of the ultrasonic sensor in which a probability of occurrence of the ground echoes is greatest; and
recognize an object when at least one of an amplitude of the echo and the matching factor exceeds a predefined threshold value.
7 . The method as recited in claim 6 , wherein the variance is determined proportionally from:
a frequency of occurrence of received ground echoes; and/or
an amplitude of the ground echoes; and/or
a clutter level; and/or
a noise level.
8 . The method as recited in claim 6 , wherein the classifier is stored in a higher-order central control instance external to the vehicle and is retrieved in order to ascertain the condition of the roadway portion.
9 . The method as recited in claim 6 , wherein a coefficient of friction of the roadway portion is ascertained based on the ascertained condition of the roadway portion.