Method for characterising an object in an environment of a motor vehicle
The present disclosure relates to a method for characterizing an object in an environment of a motor vehicle by an assistance system of the motor vehicle, in which method the motor vehicle is moved relative to the object and ultrasonic signals are emitted with an ultrasonic sensor of the assistance system. Echoes of the ultrasonic signals reflected by the object are received, wherein, by a control device, respective amplitudes of the received echoes are ascertained, and a classification of a height of the object is determined based on the amplitudes. The classification of the height of the object is determined based on a determined first change in amplitude by comparing a first amplitude of a first echo with a second amplitude of a second echo received after the first echo. An assistance system is disclosed having an ultrasonic sensor and a control device designed to carry out such a method.
1 . A method for characterizing an object in an environment of a motor vehicle by an assistance system of the motor vehicle, the method comprising: performing, by the assistance system, at least one of an assisted, semi-automatic, or automatic parking method, which includes:
emitting continually ultrasonic signals with an ultrasonic sensor of the assistance signal of the motor vehicle while the motor vehicle moves relative to the object;
receiving echoes of the ultrasonic signals reflected by the object;
ascertaining, by a control device of the motor vehicle, respective amplitudes of the received echoes; and
classifying a height of the object based on the ascertained amplitudes, wherein the classification of the height of the object is determined on the basis of a determined first change in amplitude by comparing a first amplitude of a first echo of a first ultrasonic signal with a second amplitude of a second echo of a second ultrasonic signal, wherein the second echo was received after the first echo, wherein the classification of the height of the object is determined when the first change in amplitude is above a predefined threshold, which is determined as a function of at least a current speed of the motor vehicle,
wherein the classification of the height of the object is determined on the basis of a comparison of the first change in amplitude with a second change in amplitude, and the second change in amplitude is determined by comparing a third amplitude of a third echo of a third reflected ultrasonic signal which was received after the second echo with the second amplitude of the second echo or with a fourth amplitude of a fourth echo of a fourth reflected ultrasonic signal, wherein the fourth echo was received after the second echo and before the third echo; and
localizing and dimensioning a parking space using at least the classified height of the object for parking the motor vehicle during at least one of the assisted, semi-automatic, or automatic parking method.
2 . The method according to claim 1 , wherein the first echo and the second echo are temporally successive echoes.
3 . The method according to claim 1 , wherein the object is located in the vicinity of the motor vehicle, when the motor vehicle approaches the object, the object is classified as low if an amplitude decrease over a course of time is determined as the first change in amplitude, and the object is classified as high if an amplitude increase over the course of time is determined as the first change in amplitude.
4 . The method according to claim 3 , wherein the object is located in the vicinity of the motor vehicle at a distance of up to two meters from the ultrasonic sensor of the motor vehicle.
5 . The method according to claim 1 , wherein when the motor vehicle approaches the object, the object is classified as low if an amplitude increase over the course of time is determined as the first change in amplitude and an amplitude decrease over the course of time is determined as the second change in amplitude.
6 . The method according to claim 1 , wherein the object is located in the vicinity of the motor vehicle, when the motor vehicle approaches the object, the object is classified as low if an amplitude decrease over the course of time is determined in each case as the first change in amplitude and as the second change in amplitude, and if the second change in amplitude is additionally greater than the first change in amplitude.
7 . The method according to claim 6 , wherein the object is located in the vicinity of the motor vehicle at a distance of up to two meters from the ultrasonic sensor of the motor vehicle.
8 . The method according to claim 1 , wherein the object is located in the vicinity of the motor vehicle, when the motor vehicle approaches the object, the object is classified as high if an amplitude increase over the course of time is in each case determined as the first change in amplitude and as the second change in amplitude, and if the second change in amplitude is additionally greater than the first change in amplitude.
9 . The method according to claim 1 , wherein the predetermined threshold is further determined as a function of at least one of a temperature in the environment of the motor vehicle, a humidity in the environment of the motor vehicle, or an installation height of the ultrasonic sensor on the motor vehicle.
10 . The method according to claim 1 , wherein the comparison of the amplitudes is based on at least one of a difference or a relationship of the amplitudes.
11 . The method according to claim 1 , wherein the comparison of the changes in amplitude is based on at least one of a difference or a relationship of the changes in amplitude.
12 . The method according to claim 1 , wherein the classification of the height of the object is exclusively based on sensor data of the ultrasonic sensor.
13 . The method according to claim 1 , comprising:
receiving at least one of temperature and humidity measurements from one or more additional sensors; and
adjusting the predefined threshold based on the at least one temperature and humidity measurement.
14 . The method according to claim 1 , comprising:
sending a notification to a driver of the motor vehicle based on the heigh classification of the object.
15 . The method according to claim 1 , wherein the object is located below a sightline of the driver of the motor vehicle.
16 . An assistance system, comprising:
an ultrasonic sensor configured to continually emit ultrasonic signals when a motor vehicle is moved relative to an object, and receive echoes of the ultrasonic signals reflected by the object; and
a control device configured to ascertain respective amplitudes of the received echoes and classify a height of the object based on the ascertained amplitudes, wherein to classify the height of the object the control device is configured to determine a first change in amplitude by comparing a first amplitude of a first echo of a first ultrasonic signal with a second amplitude of a second echo of a second ultrasonic signal, the second echo being received after the first echo, wherein the classification of the height of the object is determined when the first change in amplitude is above a predefined threshold, which is determined as a function of at least a current speed of the motor vehicle,
wherein the classification of the height of the object is determined on the basis of a comparison of the first change in amplitude with a second change in amplitude, and the second change in amplitude is determined by comparing a third amplitude of a third echo of a third reflected ultrasonic signal which was received after the second echo with the second amplitude of the second echo or with a fourth amplitude of a fourth echo of a fourth reflected ultrasonic signal, wherein the fourth echo was received after the second echo and before the third echo,
wherein the control device is further configured to localize and dimension a parking space using at least the classified height of the object for parking the motor vehicle during at least one of an assisted, semi-automatic, or automatic parking method.
17 . An assistance system for a vehicle, comprising:
an ultrasonic sensor configured to continually emit ultrasonic signals while the vehicle moves relative to an object;
a controller configured to receive echoes from at least one ultrasonic sensor that are reflected by the object in an environment of the vehicle, ascertain amplitudes of amplitudes of the received echoes, determine a classification of a height of the object based upon the ascertained amplitudes, wherein the classification of the height of the object is determined based on a determined first change in amplitude by comparing a first amplitude of a first echo of the received echoes of a first ultrasonic signal with a second amplitude of a second echo of the received echoes of a second ultrasonic signal, the echoes of the second ultrasonic signal being was received after the echoes of the first ultrasonic signal, wherein the classification of the height of the object is determined when the first change in amplitude is above a predefined threshold, which is determined as a function of at least a current speed of the motor vehicle,
wherein the classification of the height of the object is determined on the basis of a comparison of the first change in amplitude with a second change in amplitude, and the second change in amplitude is determined by comparing a third amplitude of a third echo of a third reflected ultrasonic signal which was received after the second echo with the second amplitude of the second echo or with a fourth amplitude of a fourth echo of a fourth reflected ultrasonic signal, wherein the fourth echo was received after the second echo and before the third echo,
wherein the controller is further configured to localize and dimension a parking space using at least the classified height of the object for parking the motor vehicle during at least one of an assisted, semi-automatic, or automatic parking method.
18 . The assistance system of claim 17 , wherein the first echo and the second echo are temporally successive echoes.
19 . The assistance system of claim 17 , wherein the object is located in the vicinity of the motor vehicle, and when the motor vehicle approaches the object, the object is classified as low if an amplitude decrease over a course of time is determined as the first change in amplitude, and the object is classified as high if an amplitude increase over the course of time is determined as the first change in amplitude.