Near-object detection using ultrasonic sensors
This document describes near-object detection using ultrasonic sensors. Specifically, when an object is in a near-object range or distance from a vehicle, an object-detection system of the vehicle can utilize raw range measurements and various parameters derived from the raw range measurements. The various parameters may include an average, a slope, and a variation of the range. In the near-object range, using the parameters derived from the raw range measurements may lead to increases in the accuracy and performance of a vehicle-based object-detection system. The increased accuracy in near-object detection capability enhances safe driving.
1. A method comprising:
receiving detected ranges from at least one ultrasonic sensor;
monitoring parameters that are based on the detected ranges, the parameters including: an average of a plurality of the detected ranges, slopes of the plurality of the detected ranges, and variances of the plurality of the detected ranges;
comparing the parameters to a plurality of entry parameters and exit parameters; and
responsive to determining that the parameters satisfy the entry parameters, indicating that an object is within a near-object range; or
responsive to determining that the parameters satisfy the exit parameters, indicating that there is not an object within the near-object range.
2. The method of claim 1 , further comprising, responsive to determining that one of the plurality of the detected ranges satisfies a range threshold that corresponds to a non-near-object, indicating that an object is at the one detected range.
3. The method of claim 2 , wherein the range threshold is based on at least one of:
a type of medium that ultrasonic waves from the ultrasonic sensor are traveling through; and
a version of the at least one ultrasonic sensor.
4. The method of claim 3 , wherein the range threshold is based further on the type of medium being air.
5. The method of claim 2 , wherein the range threshold comprises a value less than 0.2 meters.
6. The method of claim 1 , wherein the at least one ultrasonic sensor comprises a plurality of ultrasonic sensors that are disposed on at least one of: each lateral side of a vehicle, proximate to each corner of the vehicle, across a front of the vehicle, or across a rear of the vehicle.
7. The method of claim 6 , further comprising:
decreasing a time allotted to at least one of the ultrasonic sensors.
8. The method of claim 6 , further comprising causing each of the ultrasonic sensors to operate at a different time.
9. The method of claim 6 , further comprising causing each of the ultrasonic sensors to operate at approximately a same time.
10. The method of claim 1 , further comprising:
causing the ultrasonic sensor to modulate at least an amplitude of a transmitted ultrasonic wave.
11. The method of claim 1 , wherein the method is performed by a system of a vehicle that is stopped.
12. The method of claim 1 , wherein the plurality of the detected ranges comprises at least three detected ranges.
13. The method of claim 1 , wherein the variances of the plurality of the detected ranges are based on a range difference between a minimum and maximum of the plurality of the detected ranges and a constant.
14. A system comprising at least one processor configured to:
receive detected ranges from at least one ultrasonic sensor;
monitor parameters that are based on the detected ranges, the parameters including: an average of a plurality of the detected ranges, slopes of the plurality of the detected ranges, and variances of the plurality of the detected ranges;
compare the parameters to a plurality of entry parameters and exit parameters;
responsive to a determination that the parameters satisfy the entry parameters, indicate that an object is within a near-object range; and
responsive to a determination that the parameters satisfy the exit parameters, indicate that there is not an object within the near-object range.
15. The system of claim 14 , wherein the parameters comprise at least ten parameters.
16. The system of claim 14 , wherein the entry parameters and the exit parameters are stored in a table.
17. The system of claim 14 , wherein the processor is further configured to, responsive to a determination that one of the plurality of the detected ranges satisfies a range threshold that corresponds to a non-near-object, indicate that an object is at the one detected range.
18. The system of claim 14 , wherein at least one of the plurality of the detected ranges is less than 0.2 meters.
19. The system of claim 14 , wherein the near-object range is within 0.2 meters.
20. Computer-readable storage media comprising instructions that, when executed, cause at least one processor to:
receive detected ranges from at least one ultrasonic sensor;
monitor parameters that are based on the detected ranges, the parameters including: an average of a plurality of the detected ranges, slopes of the plurality of the detected ranges, and variances of the plurality of the detected ranges;
compare the parameters to a plurality of entry parameters and exit parameters;
responsive to a determination that the parameters satisfy the entry parameters, indicate that an object is within a near-object range;
responsive to a determination that the parameters satisfy the exit parameters, indicate that there is not an object within the near-object range; and
responsive to a determination that one of the plurality of the detected ranges satisfies a range threshold that corresponds to a non-near-object, indicate that an object is at the one detected range.