Method for identifying at least one object in a surrounding area of a motor vehicle by means of an ultrasonic sensor, driver assistance system and motor vehicle
The invention relates to a method for identifying at least one object ( 9, 10 ) in a surrounding area ( 7 ) of a motor vehicle ( 1 ), in which the motor vehicle ( 1 ) is moved relative to at least one object ( 9, 10 ) and, while the motor vehicle ( 1 ) is moved relative to the at least one object ( 9, 10 ), a measurement cycle is performed at each of a plurality of successive times, wherein each measurement cycle involves an ultrasonic sensor ( 4 ) of the motor vehicle ( 1 ) being used to transmit an ultrasonic signal, and a feature ( 14 ) being determined that describes a position value, which describes a position of the at least one object ( 9, 10 ) and which is ascertained on the basis of a first received echo of the ultrasonic signal, and a presence of a second echo of the ultrasonic signal that is received within a predetermined period of time after the first echo, wherein the respective features ( 14 ) are associated with a cluster ( 13 ) on the basis of their position value, and the features ( 14 ) of the cluster ( 13 ) are signalled as belonging to the at least one object ( 9, 10 ) on the basis of the presence of the second echo.
1. The method for identifying at least one object in a surrounding area of a motor vehicle, comprising:
moving the motor vehicle relative to at least one object; and,
while the motor vehicle is moved relative to the at least one object, performing a measurement cycle at each of a plurality of successive times,
wherein each measurement cycle involves an ultrasonic sensor of a motor vehicle being used to transmit an ultrasonic signal, and a feature being determined that describes a position value of a position of the at least one object,
the position value being ascertained on the basis of a first received echo of the ultrasonic signal, and a presence of a second echo of the ultrasonic signal that is received within a predetermined period of time after the first echo,
wherein the respective features are associated with a cluster on the basis of corresponding position values, and the features of the cluster are signalled as belonging to the at least one object on the basis of the presence of the second echo.
2. The method according to claim 1 , wherein an area is predetermined that comprises a predetermined number of features of the cluster, and the predetermined area is signalled as belonging to the object if a sum of the number of second echoes present for the features in the predetermined area exceeds a predetermined threshold value.
3. The method according to claim 2 , wherein the area is predetermined such that the predetermined number of features are associated with temporally successive measurement cycles.
4. The method according to claim 2 , wherein the predetermined area is shifted along the features in the cluster and a check is performed for each position of the predetermined area to determine whether the features of the predetermined area belong to the at least one object.
5. The method according to claim 1 , wherein the features are entered into a map on the basis of their respective position value, and the features are associated with the cluster on the basis of their position in the map.
6. The method according to claim 5 , wherein the features entered into the map that are arranged along a predetermined line are associated with the cluster.
7. The method according to claim 1 , wherein a first group of the features of the cluster is signalled as belonging to a first object on the basis of the presence of the second echo, and a second group of the features of the cluster, which is different from the first group, is signalled as belonging to a second object on the basis of the presence of the second echo.
8. The method according to claim 7 , wherein predetermined minimum dimensions are prescribed for the first and/or the second object.
9. The method according to claim 1 , wherein a position of the motor vehicle is ascertained continually while the motor vehicle is moved relative to the at least one object, and the position value of the respective measurement cycle is determined such that the ascertained position of the motor vehicle is described when a measurement cycle is performed.
10. The method according to claim 1 , wherein a ratio between the number of echoes and the number of second echoes for the features of the measurement cycles is determined.
11. The method according to claim 1 , wherein the respective second echo for the features is used to determine a height of the at least one object.
12. The method according to claim 1 , wherein the belonging of the features of the cluster to the at least one object is used to ascertain a travel trajectory for moving the motor vehicle relative to the at least one object.
13. The method according to claim 12 , wherein the motor vehicle is manoeuvred along the ascertained travel trajectory at least semiautonomously.
14. A driver assistance system having a control device that is configured to execute a method according to claim 1 .
15. A motor vehicle having a driver assistance system according to claim 14 .