Adaptive mitigation of ultrasonic emission in vehicular object detection systems

• US 10,393,873 B2
• Filed: 10/02/2017
• Issued: 08/27/2019
• Est. Priority Date: 10/02/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Siciak, Raymond C., Hamilton, Kathryn, Damsaz, Mahrdad, Krishnamurthy, Vivekananda
• Primary Examiner(s): Kwok, Helen C
• Application Number:
  US15/722,307
• Publication Number:
  US 20190101642A1
• Time in Patent Office: 694 Days
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/003 Bistatic sonar systems; Multistatic sonar systems
• CPC Class Codes: G01S 15/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurement G01S15/32
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 7/52 of systems according to group G01S15/00
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

Remote object detection in an automotive vehicle includes an ultrasonic sensor for emitting ultrasonic bursts from an ultrasonic transducer at a standard rate. At least one object is tracked which reflects the ultrasonic bursts to the sensor. The transducer is adaptively set to emit ultrasonic bursts at a reduced rate which is less than the standard rate based on a result of the object tracking. In one embodiment, the ultrasonic bursts are set at the reduced rate when the tracked object is maintaining a stable relative position. The stable relative position may be comprised of the tracked object having a relative velocity less than a threshold. In another embodiment, extrinsic ultrasonic bursts originating from the tracked object and subsequent echoes between the automotive vehicle and the tracked object can be used by the vehicle to monitor the tracked object while emission of bursts from the vehicle are switched off.

Claims

1. Object detection apparatus in an automotive vehicle, comprising:

an ultrasonic range sensor having at least one ultrasonic transducer for generating ultrasonic bursts at a controllable rate; and

a controller for tracking at least one object which reflects the ultrasonic bursts to the sensor, wherein the controller provides a command signal to the sensor to adaptively set the controllable rate according to a result of the tracked object, wherein the controller sets the controllable rate to a standard rate, except for setting the controllable rate to a reduced rate which is less than the standard rate when the tracked object is maintaining a stable relative position, and wherein the stable relative position is comprised of the tracked object having a relative velocity less than a threshold.

2. Object detection apparatus in an automotive vehicle, comprising:

an ultrasonic range sensor having at least one ultrasonic transducer for generating ultrasonic bursts at a controllable rate; and

a controller for tracking at least one object which reflects the ultrasonic bursts to the sensor, wherein the controller provides a command signal to the sensor to adaptively set the controllable rate according to a result of the tracked object;

wherein the result of the tracked object includes a calculated distance to the tracked object, wherein the controller is configured to identify extrinsic ultrasonic bursts originating from the tracked object that were not generated by the ultrasonic range sensor and echoes of the extrinsic ultrasonic bursts resulting from multiple reflections between the automotive vehicle and the tracked object, wherein the controller is configured to calculate an extrinsic distance to the tracked object using the extrinsic ultrasonic bursts and the echoes, and wherein the ultrasonic bursts generated by the ultrasonic range sensor are temporarily switched off if the calculated distance and the extrinsic distance are matching.

3. The apparatus of claim 2 wherein the automotive vehicle and the tracked object each includes respective wireless transceivers for conduction a negotiation to select either the automotive vehicle or the tracked object for switching off a respective ultrasonic range sensor.

9. The apparatus of claim 2 wherein the ultrasonic bursts generated by the ultrasonic range sensor are periodically switched back on for re-determining the calculated distance, wherein the ultrasonic bursts generated by the ultrasonic range sensor are again temporarily switched off if the calculated distance and the extrinsic distance are matching, and wherein the controller switches the ultrasonic range sensor back on with the controllable rate set to a standard rate if the calculated distance and the extrinsic distance are not matching.

4. A method of object detection in an automotive vehicle, comprising the steps of:

emitting intrinsic ultrasonic bursts from an ultrasonic transducer at a standard rate;

tracking at least one object which reflects the intrinsic ultrasonic bursts to the transducer;

calculating a distance to the tracked object in response to the reflected intrinsic ultrasonic bursts;

adaptively setting the transducer to emit the intrinsic ultrasonic bursts at a reduced rate which is less than the standard rate according to a result of the tracked object;

identifying extrinsic ultrasonic bursts originating from the tracked object that were not generated by the ultrasonic transducer and echoes of the extrinsic ultrasonic bursts resulting from multiple reflections between the automotive vehicle and the tracked object;

calculating an extrinsic distance to the tracked object using the extrinsic ultrasonic bursts and the echoes;

temporarily switching off the intrinsic ultrasonic bursts emitted by the transducer if the calculated distance and the extrinsic distance are matching; and

continuing to calculate the extrinsic distance while the intrinsic ultrasonic bursts are switched off.

5. The method of claim 4 wherein the intrinsic ultrasonic bursts are set at the reduced rate when the tracked object is maintaining a stable relative position.

6. The method of claim 5 wherein the stable relative position is comprised of the tracked object having a relative velocity less than a threshold.

7. The method of claim 4 further comprising the steps of:

periodically switching back on the intrinsic ultrasonic bursts for re-determining the calculated distance;

if the calculated distance and the extrinsic distance are matching, then again temporarily switching off the intrinsic ultrasonic bursts emitted by the ultrasonic transducer; and

if the calculated distance and the extrinsic distance are not matching then emitting the intrinsic ultrasonic bursts at the standard rate.

8. The method of claim 4 wherein the automotive vehicle further comprises a camera-based tracking system for using image analysis to determine a visually-determined distance to the tracked object, and wherein the method further comprises the steps of:

determining a sonar distance to the tracked object using the intrinsic ultrasonic bursts;

determining a difference between the sonar distance and the visually-determined distance;

determining a calibration factor in response to the difference for adjusting the visually-determined distance;

after determining the calibration factor, switching off the intrinsic ultrasonic bursts emitted by the ultrasonic transducer while continuing to monitor the visually-determined distance using the calibration factor; and

when the camera-based tracking system no longer tracks the tracked object, then switching back on the intrinsic ultrasonic bursts emitted by the ultrasonic transducer.

10. Object detection apparatus in an automotive vehicle, comprising:

an ultrasonic range sensor having at least one ultrasonic transducer for generating ultrasonic bursts at a controllable rate;

a controller for tracking at least one object which reflects the ultrasonic bursts to the sensor, wherein the controller provides a command signal to the sensor to adaptively set the controllable rate according to a result of the tracked object, wherein the result of the tracked object includes a sonar distance to the tracked object; and

a camera-based tracking system for using image analysis to determine a visually-determined distance to the tracked object;

wherein a difference between the sonar distance and the visually-determined distance is used to determine a calibration factor for adjusting the visually-determined distance;

wherein after determining the calibration factor, the ultrasonic bursts generated by the ultrasonic range sensor are switched off while the visually-determined distance continues to be monitored; and

wherein the ultrasonic bursts generated by the ultrasonic range sensor are switched back on when the camera-based tracking system no longer tracks the tracked object.