Method for operating a surroundings-detection system of a vehicle

• US 10,120,073 B2
• Filed: 04/08/2014
• Issued: 11/06/2018
• Est. Priority Date: 06/21/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schumann, Michael, Schneider, Marcus, Schmid, Dirk
• Primary Examiner(s): Hulka, James R
• Application Number:
  US14/900,340
• Publication Number:
  US 20160154104A1
• Time in Patent Office: 1,673 Days
• Field of Search: 367 90
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/524 based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
• CPC Class Codes: G01S 13/536 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
• CPC Class Codes: G01S 15/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• CPC Class Codes: G01S 15/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 15/582 using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 15/586 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/26 wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
• CPC Class Codes: G01S 17/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2015/932 for parking operations
• CPC Class Codes: G01S 7/292 Extracting wanted echo-signals
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50
• CPC Class Codes: G01S 7/5276 using analogue techniques

Abstract

A method for operating a surroundings-detection system of a vehicle includes at least one transceiver unit emitting a frequency-modulated signal and receiving echo signals of the emitted frequency-modulated signal. The received echo signals are associated with reflection sources, and a piece of information about the speed of the reflection source relative to the transceiver unit is ascertained on the basis of the received echo signals.

Claims

1. A method for operating a surroundings-detection system of a vehicle including a transceiver unit, the method comprising:

emitting, by the transceiver unit, a frequency-modulated signal;

receiving, by the transceiver unit, echo signals of the emitted frequency-modulated signal, wherein the emitted frequency-modulated signal includes a pulse having both at least one section having increasing frequencies and at least one section having decreasing frequencies, and wherein the received echo signals are associated with at least one reflection source;

passing the received echo signals through at least one first finite impulse response (FIR) filter device having a first FIR signal, and through at least one second FIR filter device having a second FIR signal;

ascertaining one first point in time of best correlation of the received echo signals with the first FIR signal and a second point in time of best correlation of the received echo signals with the second FIR signal; and

ascertaining information about the speed of the at least one reflection source relative to the transceiver unit on the basis of a time difference between the ascertained first and second points in time of best correlation.

2. The method as recited in claim 1, wherein the emitted frequency-modulated signal has a pulse duration of 0.6 ms to 3 ms.

3. The method as recited in claim 1, wherein the pulse of the emitted frequency-modulated signal includes one of:

(i) a linear chirp-up followed by a linear chirp-down, (ii) a logarithmic chirp-up followed by a logarithmic chirp-down, (iii) a linear chirp-down followed by a linear chirp-up, or (iv) a logarithmic chirp-down followed by a logarithmic chirp-up.

4. The method as recited in claim 1, wherein the information about the speed of the at least one reflection source relative to the transceiver unit is ascertained as a linear function of the ascertained time difference.

5. The method as recited in claim 1, wherein the speed of the at least one reflection source relative to the transceiver unit is ascertained as a linear function of the ascertained time difference.

6. The method as recited in claim 1, wherein the first FIR filter device is filter matched to the at least one section of the pulse having increasing frequencies, and the second FIR filter device is filter matched to the at least one section of the pulse having decreasing frequencies.

7. The method as recited in claim 1, further comprising:

passing the emitted frequency-modulated signal through the at least one first FIR filter device and through the at least one second FIR filter device; and

ascertaining a third point in time of best correlation of the emitted frequency-modulated signal with the first FIR signal and a fourth point in time of best correlation of the emitted frequency-modulated signal with the second FIR signal;

wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit is also on the basis of a time difference between the ascertained third and fourth points in time of best correlation.

8. The method as recited in claim 7, wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit includes forming a difference between (i) the time difference between the ascertained first and second points in time of best correlation and (ii) the time difference between the ascertained third and fourth points in time of best correlation.

9. The method as recited in claim 1, further comprising:

combining a first filter response signal produced by passing the received echo signals through the at least one first FIR filter device and a second filter response signal produced by passing the received echo signals through the at least one second FIR filter device to produce a total filter response amplitude signal;

ascertaining the time difference between the first and second points in time of best correlation on the basis of the total filter response amplitude signal.

10. A non-transitory, machine-readable storage medium including program instructions, which when executed by a processor perform a method for operating a surroundings-detection system of a vehicle including a transceiver unit, the method comprising:

emitting, by the transceiver unit, a frequency-modulated signal;

receiving, by the transceiver unit, echo signals of the emitted frequency-modulated signal, wherein the emitted frequency-modulated signal includes a pulse having both at least one section having increasing frequencies and at least one section having decreasing frequencies, and wherein the received echo signals are associated with at least one reflection source;

passing the received echo signals through at least one first finite impulse response (FIR) filter device having a first FIR signal, and through at least one second FIR filter device having a second FIR signal;

ascertaining one first point in time of best correlation of the received echo signals with the first FIR signal and a second point in time of best correlation of the received echo signals with the second FIR signal; and

ascertaining information about the speed of the at least one reflection source relative to the transceiver unit on the basis of a time difference between the ascertained first and second points in time of best correlation.

11. The non-transitory, machine-readable storage medium as recited in claim 10, wherein:

the speed of the at least one reflection source is ascertained as a linear function of a time difference between the first and second points in time of best correlation.

12. The non-transitory, machine-readable storage medium as recited in claim 10, wherein the first FIR filter device is filter matched to the at least one section of the pulse having increasing frequencies, and the second FIR filter device is filter matched to the at least one section of the pulse having decreasing frequencies.

13. The non-transitory, machine-readable storage medium as recited in claim 10, the method further comprising:

passing the emitted frequency-modulated signal through the at least one first FIR filter device and through the at least one second FIR filter device; and

ascertaining a third point in time of best correlation of the emitted frequency-modulated signal with the first FIR signal and a fourth point in time of best correlation of the emitted frequency-modulated signal with the second FIR signal;

wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit is also on the basis of a time difference between the ascertained third and fourth points in time of best correlation.

14. The non-transitory, machine-readable storage medium as recited in claim 13, wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit includes forming a difference between (i) the time difference between the ascertained first and second points in time of best correlation and (ii) the time difference between the ascertained third and fourth points in time of best correlation.

15. The non-transitory, machine-readable storage medium as recited in claim 10, the method further comprising:

combining a first filter response signal produced by passing the received echo signals through the at least one first FIR filter device and a second filter response signal produced by passing the received echo signals through the at least one second FIR filter device to produce a total filter response amplitude signal;

ascertaining the time difference between the first and second points in time of best correlation on the basis of the total filter response amplitude signal.

16. A surroundings-detection system of a vehicle, comprising:

a transceiver unit configured to emit a frequency-modulated signal and receive echo signals of the emitted frequency-modulated signal, wherein the emitted frequency-modulated signal includes a pulse having both at least one section having increasing frequencies and at least one section having decreasing frequencies; and

a filtering and ascertaining device coupled to the at least one transceiver unit and configured to;

pass the received echo signals through at least one first finite impulse response (FIR) filter device having a first FIR signal, and through at least one second FIR filter device having a second FIR signal;

ascertain one first point in time of best correlation of the received echo signals with the first FIR signal and a second point in time of best correlation of the received echo signals with the second FIR signal; and

ascertain information about the speed of the at least one reflection source relative to the transceiver unit on the basis of a time difference between the ascertained first and second points in time of best correlation.

17. The surroundings-detection system as recited in claim 16, wherein:

the speed of the at least one reflection source is ascertained as a linear function of a time difference between the first and second points in time of best correlation.

18. The surroundings-detection system as recited in claim 16, wherein the first FIR filter device is filter matched to the at least one section of the pulse having increasing frequencies, and the second FIR filter device is filter matched to the at least one section of the pulse having decreasing frequencies.

19. The surroundings-detection system as recited in claim 16, the filtering and ascertaining device configured to:

pass the emitted frequency-modulated signal through the at least one first FIR filter device and through the at least one second FIR filter device; and

ascertain a third point in time of best correlation of the emitted frequency-modulated signal with the first FIR signal and a fourth point in time of best correlation of the emitted frequency-modulated signal with the second FIR signal;

wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit is also on the basis of a time difference between the ascertained third and fourth points in time of best correlation.

20. The surroundings-detection system as recited in claim 19, wherein the ascertaining the information about the speed of the at least one reflection source relative to the transceiver unit includes forming a difference between (i) the time difference between the ascertained first and second points in time of best correlation and (ii) the time difference between the ascertained third and fourth points in time of best correlation.

21. The surroundings-detection system as recited in claim 16, the filtering and ascertaining device configured to:

combine a first filter response signal produced by passing the received echo signals through the at least one first FIR filter device and a second filter response signal produced by passing the received echo signals through the at least one second FIR filter device to produce a total filter response amplitude signal;

ascertain the time difference between the first and second points in time of best correlation on the basis of the total filter response amplitude signal.