Method and apparatus for detecting objects

• US 6,133,826 A
• Filed: 12/07/1999
• Issued: 10/17/2000
• Est. Priority Date: 12/07/1999
• Status: Expired due to Term

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Sparling, Larry A.
• Primary Examiner(s): Hofsass, Jeffery A.
• Assistant Examiner(s): Tang, Son
• Application Number:
  US09/457,408
• Time in Patent Office: 315 Days
• Field of Search: 340/436, 340/435, 367/909
• US Class Current: 340/436
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound

Abstract

An apparatus and method for the detection of objects that lie within the path of a motor vehicle includes ultrasonic sensors (20) fitted to either a front or rear surface (14, 18) of the motor vehicle (10). The ultrasonic sensors (20) are adapted to both emit ultrasonic energy and to detect ultrasonic energy. A detection field (32) is divided into a plurality of sub-fields (42-50) and each is illuminated using a different amount of sensing energy in order to detect objects therein.

Claims

1. A method of detecting objects within a detection field, the detection filed extending above a ground plane and from a surface of a motor vehicle, the method comprising the steps of:

dividing the detection field into a first sub-field and a second sub-field;

illuminating the first sub-field with a first energy emission;

receiving during a first receiver enable period, an energy return as a result of the first energy emission;

determining a presence of an object in the first sub-field by detecting a primary energy return or a second energy return;

illuminating the second sub-field with a second energy emission different than the first energy emission;

receiving during a second receiver enable period, an energy return as a result of the second energy emission; and

determining a presence of an object in the second sub-field.

2. A method of detecting objects within a detection field, the detection field extending above a ground plane and from a surface of a motor vehicle, the method comprising the steps of:

dividing the detection field into a first sub-field and a second sub-field;

illuminating the first sub-field with a first energy emission;

receiving during a first receiver enable period, an energy return as a result of the first energy emission;

determining a presence of an object in the first sub-field by verifying the presence of the object by characterizing at least one of the first energy return and the second energy return;

illuminating the second sub-field with a second energy emission different than the first energy emission;

receiving during a second receiver enable period, an energy return as a result of the second energy emission; and

determining a presence of an object in the second sub-field by verifying the presence of the object and characterizing at least one of the first energy return and the second energy return.

3. The method of claim 2, wherein the step of characterizing comprises evaluating a number of pulse edges in the one of the first energy return and the second energy return.

4. The method of claim 2, wherein the step of characterizing comprise measuring a magnitude of each of the first energy return and the second energy return.

5. The method of claim 4, wherein the step of characterizing further comprises rejecting at least one of the first energy return and the second energy return when the respective magnitude of the first energy return and the second energy return is less than a respective expected magnitude value for the first energy return and the second energy return.

6. An apparatus for detecting objects in a path of a motor vehicle, the apparatus comprising:

a transceiver adapted to illuminate a detection field adjacent the motor vehicle, the detection field being divided into at least a first sub-field and a second sub-field;

a processor coupled to the transceiver, the processor providing a control signal to the transceiver to emit a first energy emission into the first sub-field and to receive either a primary or a secondary energy return from the first sub-field during a predetermined first receiver window period; and

the processor further providing a control signal to the transceiver to emit a second energy emission into the second sub-field and to receive an energy return from the second sub-field after a predetermined second receiver window period.

7. The method of claim 6, wherein the transceiver comprises an ultra-sonic energy transceiver.

8. The method of claim 6, wherein the first energy emission comprises a first plurality of energy pulses having a first amplitude and the second energy emission comprises a second plurality of energy pulses having a second amplitude.

9. The method of claim 8, wherein the first plurality of energy pulses is different in number than the second plurality of energy pulses.

10. The method of claim 8, wherein the first amplitude is different in magnitude than the second amplitude.

11. The method of claim 6, wherein the secondary energy return comprises a twice reflected energy wave.

12. A method of detecting objects within a detection field, the detection field extending above a ground plane and from a surface of a motor vehicle, the method comprising the steps of:

illuminating a first sub-field of the detection field with a first energy emission;

waiting for a first blanking period;

listening for either a first energy return or a second energy return as a result of the first energy emission;

determining a presence of an object in the first sub-field;

illuminating a second sub-field with a second energy emission, different than the first energy emission;

waiting for a second blanking period, different than the first blanking period;

listening for an energy return as a result of the second energy emission; and

determining a presence of an object in the second sub-field.

13. The method of claim 12, wherein each step of determining a presence of an object comprises verifying the presence of the object.

14. The method of claim 13, wherein the step of verifying the presence of the object comprises characterizing one of the first energy return and the second energy return.

15. The method of claim 14, wherein the step of characterizing comprises evaluating a number of pulse edges in the one of the first energy return and the second energy return.

16. The method of claim 14, wherein the step of characterizing comprise measuring a magnitude of each of the first energy return and the second energy return.

17. The method of claim 16, wherein the step of characterizing further comprises rejecting at least one of the first energy return and the second energy return when the respective magnitude of the first energy return and the second energy return is less than an a respective expected magnitude value for the first energy return and the second energy return.

18. The method of claim 12, further comprising the step of delaying for a predetermined time period between the steps of illuminating the detection field with a first energy emission and the step of illuminating the detection field with a second energy emission.