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CN-120254821-B - Method for transmitting data from an ultrasound system to a data processing device

CN120254821BCN 120254821 BCN120254821 BCN 120254821BCN-120254821-B

Abstract

The present disclosure relates to a method of transmitting data from an ultrasound system to a data processing device. In a method for transmitting data from an ultrasound system having at least one ultrasound transmitter and at least one ultrasound receiver to a data processing device via a vehicle data bus, a predefined signal profile characteristic is extracted from echo signals received from the at least one ultrasound receiver of the ultrasound system. Echo signal data is created that represents characteristics of a signal profile extracted from the echo signal. The echo signal data is transmitted from the ultrasound system to the data processing device via the vehicle data bus.

Inventors

  • DENNIS CHRIS

Assignees

  • 艾尔默斯半导体欧洲股份公司

Dates

Publication Date
20260508
Application Date
20180516
Priority Date
20180316

Claims (15)

  1. 1. A method for transmitting sensor data from a sensor to a computer system, comprising the steps of: -transmitting an ultrasound burst; Receiving the ultrasound signal and forming a time-discrete ultrasound reception signal consisting of a sequence of sample values, -Wherein time data is assigned to each sample value; determining at least two parameter signals from the sequence of sample values of the received signal by means of at least one filter, each parameter signal relating to the presence of a signal base object assigned to the respective parameter signal, Wherein the parameter signal is constructed as a time-discrete sequence of corresponding parameter signal values, an Wherein each parameter signal value is assigned a time data; -wherein a first parameter signal of said at least two parameter signals having a first characteristic and said further parameter signal having a characteristic assigned to the further parameter signal are hereinafter referred to together as a feature vector signal, and Wherein the feature vector signal is thus formed as a time-discrete sequence of feature vector signal values, which consist of parameter signal values and further parameter signal values, each having identical time data, and -Wherein each of the thus formed eigenvector signal values is assigned the corresponding time data; Evaluating the time profile of the feature vector signal and, if an evaluation value with the time profile is determined, deducing a signal object which consists of a time sequence of signal base objects and is assigned a symbol, Comparing the evaluation value of the time data with a threshold vector while forming a Boolean result, which may have a first value and a second value, and -Transmitting the symbols of the signal objects and the time data assigned to the symbols from the sensor to the computer system if the boolean outcome has a first value for the time data.
  2. 2. An ultrasonic sensor adapted or arranged to perform the method of claim 1.
  3. 3. A computer system adapted or arranged to perform the method of claim 1.
  4. 4. A system of sensors, which are arranged in a sensor array, -Having at least one computer system according to claim 3, and Having at least two ultrasonic sensors according to claim 2, -Wherein the sensor system is arranged such that data transmission between the ultrasonic sensor and the computer system is operated or enabled according to the method according to claim 1.
  5. 5. The sensor system of claim 4, wherein the sensor system is configured to, -Compressing and transmitting ultrasonic received signals, i.e. at least two ultrasonic received signals, respectively, within each of at least one of said sensors by means of a method according to the method of claim 1, and to said computer system, respectively, and -Reconstructing, within the at least one computer system, the at least two ultrasound receive signals into reconstructed ultrasound receive signals.
  6. 6. The sensor system of claim 5, wherein the computer system performs object recognition on objects in the environment of the sensor by means of the reconstructed ultrasound received signal.
  7. 7. The sensor system of claim 6, wherein the computer system performs object recognition on objects in the environment of the sensor by means of the reconstructed ultrasound receive signal and additional signals of a further sensor.
  8. 8. The sensor system of claim 6 or 7, wherein the computer system creates an environment map for the sensor or a device of which the sensor is a part based on the identified object.
  9. 9. A method for transmitting sensor data from a sensor to a computer system, comprising the steps of: -transmitting an ultrasound burst; receiving the ultrasound signal and forming a time-discrete received signal consisting of a sequence of sample values, -Wherein time data is assigned to each sample value; determining a first parameter signal having a first characteristic from a sequence of sample values of the received signal by means of a first filter, Wherein the parameter signal is constructed as a time-discrete sequence of parameter signal values, an Wherein exactly one time data is assigned to each parameter signal value; Determining at least one further parameter signal assigned to a characteristic of the further parameter signal from the sequence of sample values of the received signal by means of a further filter assigned to the further parameter signal, Wherein the further parameter signals are each constructed as a time-discrete sequence of further parameter signal values, and Wherein each further parameter signal value is assigned respectively the same time data as the corresponding parameter signal value, and -Wherein said first parameter signal and said further parameter signal are hereinafter together referred to as a feature vector signal, and Wherein the eigenvector signal is thus formed as a time-discrete sequence of eigenvector signal values, also referred to below as eigenvector signal values, which consist of parameter signal values and further parameter signal values, each having identical time data, and -Wherein each of the thus formed eigenvector signal values is assigned the corresponding time data; -comparing the eigenvector signal values of the time data with the threshold vector, while forming a boolean outcome, which boolean outcome may have a first value and a second value; -transmitting the eigenvector signal values and time data assigned to the eigenvector signal values from the sensor to the computer system if the boolean outcome has a first value for the time data.
  10. 10. An ultrasonic sensor adapted or arranged to perform the method of claim 9.
  11. 11. A system of sensors, which are arranged in a sensor array, -Having at least one computer system, and Having at least two ultrasonic sensors according to claim 10, -Wherein the sensor system is arranged such that data transmission between the ultrasonic sensor and the computer system is operated or enabled according to the method according to claim 9.
  12. 12. The sensor system of claim 11, wherein the sensor system is configured to, -Compressing and transmitting ultrasonic received signals, i.e. at least two ultrasonic received signals, within the sensor, respectively, to the computer system by means of the method according to claim 9, and -Reconstructing the at least two ultrasound receive signals into a reconstructed ultrasound receive signal within the computer system.
  13. 13. The sensor system of claim 12, wherein the computer system performs object recognition on objects in the sensor's environment by means of the reconstructed ultrasound received signals.
  14. 14. Sensor system according to claim 13, characterized in that the computer system performs object recognition on objects in the environment of the sensor by means of the reconstructed ultrasound reception signal and an additional signal of a further sensor, in particular a signal of a radar sensor.
  15. 15. The sensor system according to claim 13 or 14, characterized in that, -The computer system creating an environment map for the sensor or a device of which the sensor is a part based on the identified object.

Description

Method for transmitting data from an ultrasound system to a data processing device The present patent application is a divisional application of the chinese patent application No. 201880035869.6, entitled "method of transmitting data from an ultrasound system to a data processing device via a vehicle data bus", based on PCT international application No. PCT/EP2018/062808, with application No. 2018/EP 05/16. Technical Field The invention relates to a method for transmitting data from an ultrasound system having at least one ultrasound transmitter and an ultrasound receiver to a data processing device via a vehicle data bus (unidirectional or bidirectional single-wire, two-wire or more-wire data bus, if necessary differential). In particular, the invention relates to a method for classifying echo signals of an ultrasound system in a vehicle for data compression and transmitting the compressed data from the ultrasound system to a data processing device. Background Ultrasound systems have been used in vehicles for environmental identification for some time. In this case, an ultrasound burst (Burstsignale) is transmitted by at least one ultrasound transmitter, which burst is received by at least one ultrasound receiver of the ultrasound system after being reflected by an obstacle, typically a subject. As ultrasonic transmitters/ultrasonic receivers, so-called ultrasonic transducers are mainly used, which operate as transmitters in a first phase of a polling interval and as ultrasonic receivers in a second, subsequent phase of the polling interval. In recent years, the demand for identifying obstacles or objects in the environment of a vehicle by an ultrasound system has steadily grown. While it may be sufficient to know only a certain distance of an obstacle from the vehicle at an early stage, efforts are now being made to reconstruct the type of obstacle located in the vehicle environment based on the echo signal profile. But thereby increases the amount of data to be transmitted between the ultrasound system of the vehicle and the data processing device. However, the data buses conventionally used in vehicles have, inter alia, for cost reasons, only a limited maximum data transmission rate. Therefore, there has been a shift in the past to reduce the amount of data to be transmitted. Sometimes this is done by obstacle object recognition (with corresponding confidence information for the reliability of obstacle recognition) as described in DE 10 2008 042 640A1, for example. Other examples of using ultrasound systems with reduced data transmission possibilities can be found in DE 10 2005 024 716 A1 and DE 10 2012 207 164 A1. It is desirable to transmit data of the actual measurement signals of the ultrasonic sensors increasingly to a central computer system, where they are further processed together with data from other ultrasonic sensor systems and/or also from other types of sensor systems (e.g. radar systems), i.e. by sensor fusion, into a so-called environment map. It is therefore desirable to perform object recognition not in the ultrasound sensor system itself, but first by such sensor fusion in a computer system, to avoid data loss, thereby reducing the probability of false decisions for false information and resulting therefrom and reducing the risk of accidents. At the same time, however, the transmission bandwidth of the available sensor data bus is limited. Replacement of the sensor data buses should be avoided, as they already prove their own value in the field. Therefore, it is desirable at the same time not to increase the amount of data to be transmitted. In short, the information content of the data and the correlation of the data with obstacle recognition (i.e., object recognition) that is later run in the computer system must be increased without having to increase the data rate too much, and preferably without having to increase the data rate at all. In contrast, the data rate requirements should preferably even be reduced to allow data rate capacity for transmitting status data and self-test information of the ultrasound sensor system to the computer system, which is mandatory in the category of functional safety (FuSi). This problem is solved by the invention presented herein. Various methods of processing ultrasonic sensor signals are known in the art. For example, WO-up>A-2012/016 834 discloses up>A method for evaluating echo signals for vehicle environment detection. In this document, it is proposed to transmit measurement signals having a predefinable code and shape and to search the received signals for components of the measurement signals in the received signals by means of a correlation with the measurement signals and to determine these components. The correlation level (rather than the level of the envelope of the echo signal) is then evaluated with a threshold. DE-a-4 433 957 discloses that ultrasonic pulses are periodically radiated for obstacle detection and the position of the o