CPC G01S 15/60 (2013.01) [G01S 7/52031 (2013.01); G01S 7/52036 (2013.01); G01S 15/36 (2013.01)] | 14 Claims |
1. A method for evaluating an object height using ultrasonic signals acquired by an ultrasonic sensor mounted on a vehicle, the method comprising the following steps:
in each measurement cycle:
a. acquiring a first ultrasonic signal as an edge reflection or as a directly traveling echo of an object;
b. calculating an expectation window for an associated interior-corner reflection;
c. acquiring a second ultrasonic signal;
d. when the second ultrasonic signal is acquired in the expectation window, identifying the second ultrasonic signal as an interior-corner reflection associated with the first ultrasonic signal, and combining the first ultrasonic signal and the second ultrasonic signal to form a signal group;
e. determining a first significance of the first ultrasonic signal and determining a second significance of the second ultrasonic signal, the significance of each acquired ultrasonic signal of the first and second ultrasonic signals indicating a probability that the acquired ultrasonic signal is a reflection of an emitted ultrasonic signal by at least one object;
f. assigning the signal group to an object in a surrounding environment of the vehicle;
g. comparing the first significance and the second significance and, as a function of the comparison, assigning the signal group to a first echo group or to a second echo group;
determining a first rate of the assignment of a signal group to the first echo group over a determined number of measurement cycles;
determining a second rate of the assignment of the signal group to the second echo group over the determined number of measurement cycles;
evaluating the object height as a function of the first rate and the second rate.
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