Method for operating a surroundings detection system of a vehicle having at least two transceiver units and surroundings detection system
A method for operating a surroundings detection system of a vehicle having at least two transceiver units, at least one transceiver unit emitting signals, and the at least two transceiver units receiving echo signals of the emitted signals, the echo signals being reflected by reflection sources situated in a detection range of the transceiver units. It is provided that received wave pulses and corresponding amplitude information are ascertained from the received echo signals, and upon receipt of the received wave pulses originating from at least two different reflection sources, an assignment of different received wave pulses of a first transceiver unit to different received wave pulses of a second transceiver unit is performed, taking into account the amplitude information, so that a spatial position of the at least two different reflection sources is ascertainable. Also described is a surroundings detection system and a computer program configured for performing the method.
1. A method for operating a surroundings detection system of a vehicle having at least two transceiver units, the method comprising:
transmitting, by a first transceiver unit of the at least two transceiver units, a first signal, the first signal being reflected by a first reflection source to the first transceiver unit as a first direct echo signal, and being reflected by the first reflection source to a second transceiver of the at least two transceivers as a first cross echo signal, the first signal further being reflected by a second reflection source to the first transceiver as a first direct echo signal, and being reflected by the second reflection source to the second transceiver unit as a second cross echo signal, wherein the first reflection source and the second reflection source are situated in a detection range of the at least two transceivers;
receiving, by the first transceiver unit, the first direct echo signal and the second direct echo signal;
receiving, by the second transceiver unit, the first cross echo signal and the second cross echo signal;
determining propagation times of the first signal, the first direct echo signal, the second direct echo signal, the first cross echo signal and the second cross echo signal;
determining distances of each of the first and second reflection sources to each of the first transceiver unit and the second transceiver unit using the determined propagation times;
ascertaining received wave pulses of the first transceiver unit and corresponding amplitude information from the received first direct echo signal and the received second direct echo signal;
ascertaining received wave pulses of the second transceiver unit and corresponding amplitude information from the received first cross echo signal and the received second cross echo signal;
comparing the amplitude information of the received wave pulses of the first transceiver unit to the amplitude information of the received wave pulses of the second transceiver unit;
assigning the received wave pulses of the first transceiver unit to the received wave pulses of the second transceiver unit based on results of the comparison; and
determining a spatial position of at least one of the first reflection source and the second reflection source, based on the determined distances and based on the assignment.
2. The method of claim 1 , wherein the amplitude information of the wave pulses of the first transceiver unit and the amplitude information of the wave pluses of the second transceiver unit includes an echo strength.
3. The method of claim 1 , wherein the method is used in static scenes or dynamic scenes.
4. The surroundings detection system of claim 1 , wherein the transceiver units include ultrasonic transceiver units.
5. The surroundings detection system of claim 1 , wherein the surroundings detection system includes a speed ascertaining unit.
6. The method as recited in claim 1 , wherein in the ascertaining of the amplitude information of the received wave pulses of the first transceiver unit and the amplitude information of the received wave pulses of the second transceiver unit, the signal propagation times are taken into account.
7. The method as recited in claim 1 , wherein the amplitude information of the received wave pulses of the first transceiver unit and the amplitude information of the received wave pulses of the second transceiver unit includes amplitudes of peak pulses in the received wave pulses of the first transceiver unit and the received wave pulses of the second transceiver unit.
8. The method as recited in claim 1 , wherein the amplitude information of the received wave pulses of the first transceiver unit and the amplitude information of the received wave pulses of the second transceiver unit includes area content of the received wave pulses of the first transceiver unit and the received wave pulses of the second transceiver unit.
9. A computer readable medium having a computer program, which is executable by a processor, comprising:
a program code arrangement having program code for operating a surroundings detection system of a vehicle having at least two transceiver units, by performing the following:
transmitting, by a first transceiver unit of the at least two transceiver units, a first signal, the first signal being reflected by a first reflection source to the first transceiver unit as a first direct echo signal, and being reflected by the first reflection source to a second transceiver of the at least two transceivers as a first cross echo signal, the first signal further being reflected by a second reflection source to the first transceiver as a first direct echo signal, and being reflected by the second reflection source to the second transceiver unit as a second cross echo signal, wherein the first reflection source and the second reflection source are situated in a detection range of the at least two transceivers;
receiving, by the first transceiver unit, the first direct echo signal and the second direct echo signal;
receiving, by the second transceiver unit, the first cross echo signal and the second cross echo signal;
determining propagation times of the first signal, the first direct echo signal, the second direct echo signal, the first cross echo signal and the second cross echo signal;
determining distances of each of the first and second reflection sources to each of the first transceiver unit and the second transceiver unit using the determined propagation times;
ascertaining received wave pulses of the first transceiver unit and corresponding amplitude information from the received first direct echo signal and the received second direct echo signal;
ascertaining received wave pulses of the second transceiver unit and corresponding amplitude information from the received first cross echo signal and the received second cross echo signal;
comparing the amplitude information of the received wave pulses of the first transceiver unit to the amplitude information of the received wave pulses of the second transceiver unit;
assigning the received wave pulses of the first transceiver unit to the received wave pulses of the second transceiver unit based on results of the comparison; and
determining a spatial position of at least one of the first reflection source and the second reflection source, based on the determined distances and based on the assignment.
10. A surroundings detection system of a vehicle, comprising:
at least two transceiver units, a first transceiver unit of the at least two transceiver units being configured to transmit a first signal, the first signal being reflected by a first reflection source to the first transceiver unit as a first direct echo signal, and being reflected by the first reflection source to a second transceiver of the at least two transceivers as a first cross echo signal, the first signal further being reflected by a second reflection source to the first transceiver as a first direct echo signal, and being reflected by the second reflection source to the second transceiver unit as a second cross echo signal, wherein the first reflection source and the second reflection source are situated in a detection range of the at least two transceivers, the first transceiver configured to receive the first direct echo signal and the second direct echo signal, and the second transceiver configured to receive the first cross echo signal and the second cross echo signal;
at least one evaluation unit configured to determine propagation times of the first signal, the first direct echo signal, the second direct echo signal, the first cross echo signal and the second cross echo signal, determine distances of each of the first and second reflection sources to each of the first transceiver unit and the second transceiver unit using the determined propagation times, ascertain received wave pulses of the first transceiver unit and corresponding amplitude information from the received first direct echo signal and the received second direct echo signal, and ascertain received wave pulses of the second transceiver unit and corresponding amplitude information from the received first cross echo signal and the received second cross echo signal; and
an assignment unit configured to compare the amplitude information of the received wave pulses of the first transceiver unit to the amplitude information of the received wave pulses of the second transceiver unit, and assign the received wave pulses of the first transceiver unit to the received wave pulses of the second transceiver unit based on the results of the comparison;
wherein the surroundings detection system determines a spatial position of at least one of the first reflection source and the second reflection source, based on the determined distances and based on the assignment.