US 12,442,917 B2
Method for classifying at least one object in the surroundings of a vehicle by means of an ultrasonic sensor system, controller, ultrasonic sensor system, and vehicle
Christian Pampus, Leonberg (DE); Jannik Siller, Stuttgart (DE); Michael Tchorzewski, Boeblingen (DE); and Tom Reimann, Bissingen An der Teck (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 18/551,253
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Sep. 19, 2022, PCT No. PCT/EP2022/075876
§ 371(c)(1), (2) Date Sep. 19, 2023,
PCT Pub. No. WO2023/072477, PCT Pub. Date May 4, 2023.
Claims priority of application No. 10 2021 212 067.9 (DE), filed on Oct. 26, 2021.
Prior Publication US 2024/0168156 A1, May 23, 2024
Int. Cl. G01S 15/52 (2006.01); G01S 7/539 (2006.01); G01S 15/931 (2020.01)
CPC G01S 15/52 (2013.01) [G01S 7/539 (2013.01); G01S 15/931 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method for classifying at least one object in surroundings of a vehicle using an ultrasonic sensor system, the method comprising the following steps:
emitting ultrasonic signals at a plurality of successive time points using the ultrasonic sensor system;
receiving ultrasonic echo signals reflected on the object in the surroundings of the vehicle, using the ultrasonic sensor system;
ascertaining the object in the surroundings as a function of the received ultrasonic echo signals; and
determining, as a function of the received ultrasonic echo signals whether the object is classified as dynamic including as a pedestrian;
wherein a distance change that takes place between the vehicle and the ascertained object within a time space of two ultrasonic signals emitted at different time points is determined as a function of ultrasonic echo signals associated with the two ultrasonic signals, wherein it is determined as a function of the distance change and a velocity of the vehicle whether the object can be classified as dynamic, wherein a comparison of the distance change to a path traveled by the vehicle within the time span as a function of the velocity of the vehicle, takes place, and wherein the object is classified as dynamic when the distance change is greater than the path traveled.