| CPC G01S 7/53 (2013.01) [G01S 7/527 (2013.01); G01S 7/539 (2013.01); G01S 15/42 (2013.01); G01S 15/931 (2013.01); G01S 2015/932 (2013.01); G01S 2015/938 (2013.01)] | 11 Claims |
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1. A method for classifying an object in surroundings of a motor vehicle, using an ultrasonic sensor system, the ultrasonic sensor system including a plurality of spatially distributed ultrasonic sensors, the method comprising the following steps:
carrying out a plurality of measurements, during each of the plurality of measurements, an ultrasonic signal being emitted by one of the ultrasonic sensors of the plurality of ultrasonic sensors, a signal being received by at least one of the ultrasonic sensors, the signal including a plurality of reflected echo signals, the received echo signal being associated with an object;
classifying the object as a pedestrian as a function of a combination of at least a first feature, a third feature, and an eighth feature of the following eight features:
the first feature, which represents a frequency with respect to a number of the plurality of measurements carried out with which a respective distance exceeds a predefined distance threshold value, each of the respective distance corresponding to a distance between a temporally first received echo signal of a measurement of the plurality of measurements and a temporally last received echo signal of the measurement;
a second feature, which represents a variance of the distances;
the third feature which represents a distribution of a number of the received echo signals per measurement via the ultrasonic sensors;
a fourth feature which represents an alignment of the ultrasonic sensors with respect to the object;
a fifth feature, which represents a variance of first object distances over multiple measurements, an associated first object distance being calculated for each determined temporally first received echo signal in an approach of the object being taken into consideration in the determination of the variance;
a sixth feature, which represents a correlation of the received echo signal with a sent ultrasonic signal;
a seventh feature, which represents an amplitude of an echo signal;
the eighth feature, which represents a distribution of reflection points, each reflection point indicating a measured object position,
wherein the object is classified as a pedestrian when at least the frequency according to the first feature exceeds a frequency threshold value and the distribution according to the third feature has a result that only one of the plurality of ultrasonic sensors or only a few of the plurality of ultrasonic sensors which are adjacent to one another, have received a plurality of echo signals per measurement,
wherein the object is classified as a pedestrian when, in addition, a spatial distribution of the reflection points according to the eighth feature has a characteristic shape, the characteristic shape including an accumulation of reflection points at a probable object position and a scattering in a lateral direction.
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