System and method for detecting obstacles for vehicles

• US 7,876,645 B2
• Filed: 07/28/2006
• Issued: 01/25/2011
• Est. Priority Date: 07/29/2005
• Status: Active Grant

• Current Assignee: META Systems (Siemens AG)
• Original Assignee: META Systems (Siemens AG)
• Inventors: Bigliardi, Severino
• Primary Examiner(s): PIHULIC, DANIEL T
• Application Number:
  US11/989,572
• Publication Number:
  US 20100149923A1
• Time in Patent Office: 1,642 Days
• Field of Search: 367/902, 367/100, 367/107, 367/116
• US Class Current: 367/100
• CPC Class Codes: G01S 15/526 by comparing echos in different sonar periods
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2015/938 in the bumper area

Abstract

The present invention refers to a system for detecting obstacles for vehicles, comprising at least one sensor able to transmit a detection signal and to receive an echo signal reflected off at least one obstacle, means of parametric evaluation of said received echo signal which comprise means of comparison between at least two successive echo signals for the determination of a reference echo signal able to define the position of at least one fixed obstacle with respect to said at least one sensor.

Claims

1. A system for detecting obstacles for vehicles, comprising:

at least one sensor (1), fastened on a motor vehicle (2), able to transmit a detection signal and to receive a corresponding echo signal reflected off at least one obstacle; and

means associated with said at least one sensor (1) of parametric evaluation of said received echo signal;

wherein said means of parametric evaluation in turn comprising;

comparison means for comparing in a determined time window at least two successive echo signals received by the sensor (1) so as to determine a reference echo signal able to define the position with respect to said at least one sensor (1) of at least one fixed obstacle (5) constituted by an integral part of the motor vehicle (2), and

verification means for verifying the difference between said reference echo signal and the successive echo signals received by said sensor (1) and for making a comparison between said difference and at least one predefined threshold value,

wherein in the event of position of one first obstacle, with respect to said at least one sensor (1), being constant in time within said determined time window, and, at the same time, in the event of position of one second obstacle, always with respect to said at least one sensor (1), being variable in time within said time window, said comparing means are able to determine said reference echo signal according to the position of said one first obstacle, and

wherein said verification means are suitable for generating a control signal of at least one user device connected downstream of said sensor (1), when said difference is greater than said threshold value,

whereby, in case of no obstacle entering into the detection area (4) of the sensor (1), said successive echo signals, received by the sensor (1), are consistent with said reference echo signal, and, in case of an effective obstacle, not constituted by any integral part of the vehicle, inside the detection area (4), said successive echo signals change over time and are compared with said echo reference signal, corresponding to said fixed obstacle, integral part of the motor vehicle, for verifying the difference between them and said echo reference signal and thereby generating said control signal, when said difference is greater than said threshold value.

2. The system according to claim 1, wherein said user device comprises indicator means for signalling the presence of said effective obstacle inside the detection area (4).

3. The system according to claim 2, wherein said indicator means are of the visual or sound type.

4. The system according claim 1, wherein said user device comprises automatic closing means for closing automatically the boot of a said motor vehicle after said system has stored a user reference echo signal defining the position of a user in the zone of said boot of the motor vehicle and has verified a difference, between the successive echo signals received by the sensor (1) and said user reference echo signal, indicating that said user moves away from the boot.

5. The system according to claim 1, wherein said means of parametric evaluation comprise memory means suitable for storing said reference echo signal.

6. The system according to claim 1, wherein said means of parametric evaluation comprise a micro-controller.

7. The system according to claim 1, wherein said comparison means comprise means of analysis of an odometric signal signalling the movement of the vehicle on which said at least one sensor (1) is installed,

wherein in case of detection of at least one obstacle having a constant position with respect to the motor vehicle (2), within said determined time window, and of contemporaneous detection, by means of said odometric signal, of movement of the vehicle (2), said reference echo signal is determined according to the echo signal generated by said obstacle having a constant position.

8. The system according to claim 1, wherein said at least one sensor (1) is connected to at least one control unit (3).

9. The system according to claim 1, wherein said at least one sensor (1) is of the receiver/transmitter type.

10. The system according to claim 1, wherein said sensor (1) is a sensor of the ultrasonic type.

11. The system according to claim 1, wherein said sensor (1) is a sensor of the optical type.

12. The system according to claim 1, wherein said sensor (1) is a sensor of the electromagnetic type.

13. The system according to claim 1, a series of sensors (1).

14. The system according to claim 1, wherein the weight of said reference echo signal in calculating said difference is higher in the case in which said reference echo signal is determined by the comparison between a sequence of echo signals simultaneous with the movement of the vehicle, compared to the case in which said reference echo signal is determined by the comparison between a sequence of echo signals with said motor vehicle being stopped and in the presence of at least one moving object.

15. A method for detecting obstacles for vehicles, comprising the following steps:

transmitting at least one detection signal at least one sensor (1), fastened on a motor vehicle (2);

detecting at least one echo signal reflected by at least one obstacle, in a field of action (4) of said sensor (1), and received by said at least one sensor (1);

comparing at least two successive echo signals so as to determine a reference echo signal able to define the position, with respect to said at least one sensor (1), of at least one fixed obstacle (5) constituted by an integral part of a motor vehicle (2), as for instance a tow hook (5) fastened to the rear of the motor vehicle (2),

wherein, in the event of position of one first obstacle, with respect to said at least one sensor, being constant in time, and, at the same time, in the event of position of one second obstacle, always with respect to said at least one sensor, being variable in time, or of movement of said vehicle, said comparing phase determines said reference echo signal according to the constant position of said one first obstacle;

storing said reference echo signal, so determined;

verifying the difference between said reference echo signal and the successive echo signals received by said sensor (1); and

generating a user device control signal, signalling the presence of an effective obstacle in the detection area (4) of said sensor (1), when said difference is greater than a preset threshold value.

16. The method according to claim 15, wherein said comparing phase comprises the analysis of the echo signals received by said sensor (1) within a determined time window.