DE102022005052B3 - Modified command-controlled UART data transmission for the timely data transmission of echo data to a higher-level computer system - Google Patents

Abstract

The technical teaching of this document describes, in the form of a method and an associated suitable device, the data communication between a higher-level computer system of an ultrasonic measuring system and an associated ultrasonic sensor via a modified UART data interface. The proposed core idea is to abandon the UART protocol in favor of a special signaling protocol by modifying the UART interface for the duration of an ultrasonic measurement phase 125 and to promptly transmit the arrival of echoes at the ultrasonic sensor to the higher-level computer system using pulses (140 to 144) and after that At the end of the ultrasonic measurement phase 125, return to the UART protocol for data transmission from the ultrasonic sensor to the higher-level computer system.

Description

Field of invention

The invention is aimed at a modified command-controlled UART data interface for the data transmission of echo data to a higher-level computer system.

General introduction

Modern ADAS systems (driver assistance systems for autonomous driving) preferably use ultrasonic sensors for automatic parking aids in modern vehicles. Recently, the market has shown an increasingly clear trend towards increased data rates, which systems such as LIN data buses and/or other data buses will no longer be able to provide in the future.

The aim of the technical teaching disclosed in this document is more efficient, faster and safer data communication between the respective ultrasonic sensor and the higher-level computer system. Market participants also refer to the higher-level computer system as a control device. Faster data communication enables faster ultrasound measurement sequences and more data that the higher-level computer system can evaluate. A higher data rate can lead to an increase in system performance.

The state of the art are the IO communication protocols, as currently used in products such as types 524.09 / 524.33 from Elmos and similar products from other manufacturers.

In the initial phase of automotive ultrasonic sensors, the input/output protocol was a pure protocol that only provided temporal information (time until the echoes were detected). Various status information that the ultrasonic sensor transmits after the ultrasonic measurement supplements this protocol in the subsequent products. The prior art uses a simple proprietary protocol for configuration, the logical '0' and '1' of which are characterized by low phases of different lengths. The disadvantages of this input/output communication are the rather low data rate and the low information content of the measurement data, which only transmits the temporal information of a received echo.

In addition to input/output communication, there are also other interface protocols. Such exemplary other interface protocols are currently, for example, the LIN protocol and the DSl3 protocol, which market participants in the market use for these purposes. However, these protocols also lead to significantly higher IC and system costs. The technical teaching presented here aims to provide a remedy without having to accept the above disadvantages.

The document presented here refers in particular to the writings WO 2020 182 963 A2 , WO 2018 210 966 A1 and the corresponding patent family papers dealing with compression and data transfer. The technical teachings of these writings do not solve the problem discussed here.

From the DE 10 2021 121 156 A1 a method for an ultrasonic sensor system is known, in which the method of the ultrasonic sensor system determines distance values based on ultrasonic echoes that detect at least four ultrasonic sensors. The method of the ultrasonic sensor system DE 10 2021 121 156 A1 determines solutions from these distance values using a trilateration method. The procedure of DE 10 2021 121 156 A1 filters each of these solutions into filtered solutions using a respective Kalman filtering method and clusters these filtered solutions into accepted solutions using a clustering method and discards unaccepted filtered solutions.

From the document Pepperl+Fuchs: UCC****-50GK-B26 Series Ultrasonic Sensors Manual 2020-01.2020, ultrasonic sensors are known that are addressed via a LIN or UART interface and report the distance to the object. For simple measuring tasks, the sensor described there can, if necessary, cyclically output a voltage pulse in PWM mode, the width of which is proportional to the distance to the object. The electrical connections are accessible via an 8-pin flat connector. The type of assignment of the connections allows the selection of the voltage range and the type of communication. The distance value output is temperature compensated by a temperature measurement in the sensor. Temperature measurement in the sensor is temperature compensated. In standby mode, power consumption is reduced to a minimum. The wide operating voltage range even allows the sensor to be operated with a battery. When delivered, the PWM mode is activated with the measurement profile “C” (wide sound beam). After applying the appropriate operating voltage, the sensor cyclically emits a voltage pulse with a width that reflects the distance to the object. If the sensor is to be operated in LIN or UART communication mode, the appropriate connections must be made. The sensor is activated when the corresponding operation code (OP code) is sent. Should the sensor go back into cycle? To be placed in PWM mode, the PWM mode must be activated in communication mode with the corresponding OP code. Each sensor in this document from Pepperl+Fuchs has three profiles, which primarily determine the characteristic response curves. These profiles can be accessed in LIN and UART mode via the respective OP code for each measurement. Each time the profile is called up, it is possible to adapt the ultrasonic sensor to the application in the sensor settings by transmitting the corresponding OP code.

From the DE 10 2012 017 368 A1 a method for communication between a sensor, in particular an ultrasonic sensor, and a control device in a motor vehicle is known, in which information is transmitted between the sensor on the one hand and the control device on the other hand. In a device according to the technical teachings of DE 10 2012 017 368 A1 A trigger pulse is transmitted from the control device to the sensor, by means of which the sensor is activated to initiate a measuring process. In technical teaching DE 10 2012 017 368 A1 In this case, a code pulse separate from the trigger pulse is transmitted from the control device to the sensor, based on which information is transmitted to the sensor about a code to be applied to a sensor signal during the measuring process.

The document presented here therefore pursues a new, disruptive approach that interrupts and restarts the further development of previous technical teaching at an essential point.

Task

The proposal is therefore based on the task of creating a solution that does not have the above disadvantages of the prior art and has further advantages. This task is solved by the technical teaching of the independent claim. Further refinements may be the subject of subclaims.

Solution to the task

The basic idea of the technical teaching presented here is that the ultrasound transmitter communicates with the higher-level computer system using a conventional UART data interface.

Within an ultrasonic measurement cycle, the ultrasonic sensor and the higher-level computer system interrupt the data communication from the ultrasonic transmitter to the higher-level computer system and switch to a special one for the duration of the ultrasonic measurement phase, within which the actual measurement time lies, in which the ultrasonic sensor receives reflections of the emitted ultrasonic burst and/or the emitted ultrasonic signal Protocol for rapid signaling of reflections (echoes) so as not to cause additional response delay.

The basic idea of the technical teaching presented here is the expansion of the current input/output communication, in particular through a signal mode within the UART communication in UART mode. Furthermore, the technical teaching disclosed here provides for special signaling pulses and a special, new echo coding (length modulation). The ultrasonic sensor system can include the ultrasonic sensor system, the higher-level computer system and the ultrasonic sensor as well as a single-wire data bus or a two-wire data bus with a transmitting and receiving line in accordance with the technical teaching presented here, for example via parity bits and/or CRC data bits and bytes or the like .

Finally, the technical teaching presented here enables the use of extended measurement profiles to improve the efficiency of communication and increase system performance. This means that the technical teaching presented here suggests that the higher-level computer system no longer transmits all the parameters of the measurement to be carried out to the ultrasonic sensor immediately before the measurement, but rather predetermined parameter configurations and provide them with an index and the corresponding parameter configurations by transmitting the index in a command phase to call. These parameter configurations or measurement profiles can be stored, for example, in the non-volatile memory of the ultrasonic sensor. After starting the ultrasonic sensor controller, the ultrasonic sensor controller can load the parameter configurations into the volatile memory. These parameter configurations can then also be located in the volatile memory of the ultrasonic sensor. However, the higher-level computer system must then transfer the parameter configurations from the higher-level computer system to the ultrasonic sensor every time the ultrasonic sensor is started. The control device of the ultrasonic sensor then accesses this data in the non-volatile memory or in the volatile memory of the ultrasonic sensor during operation of the ultrasonic sensor in order to set the parameters for the ultrasonic measurements in accordance with the stored measurement profiles.

The basic idea of the invention presented here is that the ultrasonic sensor and the higher-level computer system communicate with each other using a conventional UART data interface who communicate. A UART data packet preferably includes a start bit, the data and a stop bit and possibly a parity bit.

This allows data communication between the ultrasonic sensor and the higher-level computer system to be simplified.

During the ultrasonic measurement phase, which is further subdivided into the transmission phase of the ultrasonic signal or ultrasonic burst, the decay phase of the ultrasonic transducer and the reception phase, the ultrasonic sensor now leaves the UART protocol and directly signals the reception of an echo by the ultrasonic transducer. The ultrasound transmitter preferably leaves this ultrasound measurement phase again after a predetermined time and resumes communication with the higher-level computer system in accordance with the UART protocol.

The proposed ultrasonic sensor preferably carries out ultrasonic measurement cycles one after the other and not overlapping in time. The ultrasonic measurement cycles are essentially divided into at least three phases. However, not every ultrasonic measurement cycle has to have these three phases. Under the conditions mentioned below as examples, phases of the three phases of the ultrasonic measurement cycles may be missing, in particular at times, during the execution of the ultrasonic measurement cycles.

Exemplary first phase I (hereinafter command phase)

The start of the first phase in the sense of the document presented here is typically equal to the start of the ultrasonic measurement cycle in the sense of the document presented here. The first phase typically includes the transmission of information from the higher-level computer system to the ultrasonic sensor about what type of ultrasonic measurement the ultrasonic sensor should carry out in one of the subsequent ultrasonic measurement phases. The document presented here refers to this information as a command. The command typically also includes a start signal for the subsequent ultrasound measurement phase. It is preferably defined or set or programmed at what time interval after receipt of the start signal the ultrasonic sensor begins the ultrasonic measurement phase. The command preferably includes, at least temporarily and/or in some cases, information about the properties with which the ultrasonic sensor should generate an ultrasonic burst and/or an ultrasonic signal in one of the subsequent ultrasonic measurement phases. Such properties can be, for example, the coding, the chirp (yes/no), chirp direction, chirp speed, number of pulses of the ultrasound burst, etc. However, a command can also involve the emission of several ultrasound bursts one after the other, which may differ.

Exemplary second phase II (hereinafter ultrasonic measurement phase)

The ultrasonic measurement phase of an ultrasonic measurement cycle includes carrying out the actual measurement and the transmission of the detection of the arrival of echoes at the ultrasonic sensor, preferably synchronously with the system clock or UART clock. The ultrasonic sensor preferably uses as a measure for the arrival of an echo the exceeding of the threshold curve by the value curve of the envelope signal of the received signal of the ultrasonic transducer or ultrasonic receiver in a first direction. The ultrasonic sensor preferably uses, as a measure for the end of the arrival of an echo, the value curve of the envelope signal of the received signal of the ultrasonic transducer or ultrasonic receiver in the second direction, which is different from the first direction, to fall below the threshold value curve. It is therefore preferably an echo detection, which the ultrasonic sensor preferably signals to the higher-level computer system synchronously with the system clock of the ultrasonic sensor or synchronously with the UART clock.

Exemplary third phase III (hereinafter third phase of the ultrasonic measurement cycle)

At the beginning of the third phase, the ultrasonic sensor resumes UART communication. In the third phase, the ultrasonic sensor transmits the type of signal objects detected by the ultrasonic sensor and/or their parameters, hereinafter referred to as signal object parameters, to the higher-level computer unit. These signal objects can be, for example, the echoes explained above. In this third phase, the ultrasonic sensor preferably transmits the information that it has detected an echo and again preferably at what time this echo occurred after the start of the ultrasonic measurement phase, again preferably how large the signal of this echo was, and again preferably with which Probability it was actually an echo, and again preferred, how many echoes it was. The ultrasonic sensor transmits, for example, the time of the echo and a so-called confidence value for this echo. The probability value does not need to be a probability value in the purely mathematical sense. It should only be a parameter that allows the higher-level computer unit to distinguish between signals that are certainly echoes and those that are that are not echoes. The ultrasonic sensor preferably transmits up to four echoes. Of course it is conceivable to transmit more or fewer echoes. In the third phase, the ultrasonic sensor preferably transmits the data of the echoes in the order in which they were received by the ultrasonic sensor. Of course, it is conceivable to transmit the echo data in reverse order. It is also conceivable to transmit the echo data in any order with a time stamp of the reception or the number of the reception. Furthermore, in this third phase of the ultrasonic measurement cycle, the ultrasonic sensor preferably transmits diagnostic data to the higher-level computer unit. This diagnostic data can be, for example, hardware errors in circuit parts of the evaluation circuit inside the ultrasonic sensor and other diagnostic errors. In the third phase of the ultrasonic measurement cycle, the ultrasonic sensor can also transmit additional data such as status information, test results, device numbers, bus node addresses, encryption data, etc. If this document describes a data transfer from the ultrasonic sensor to the higher-level computer system, this can always be understood, among other things, to mean that, for example, the control device of the ultrasonic sensor reads data via the internal data bus of the ultrasonic sensor from a device part of the ultrasonic sensor and via the data interface of the ultrasonic sensor directly or after processing via the external data bus to the higher-level computer system. If this document describes a data transfer from the higher-level computer system to the ultrasonic sensor, this can always be understood, among other things, to mean that, for example, the higher-level computer system sends data to the control device of the ultrasonic sensor via the external data bus and via the data interface of the ultrasonic sensor and via an internal data bus of the ultrasonic sensor / or sends to a device part of the ultrasonic sensor. It is conceivable that the control device of the ultrasonic sensor, after receiving it from the higher-level computer system, passes on such data directly or indirectly after processing by the control device of the ultrasonic sensor via the internal data bus of the ultrasonic sensor to other device parts of the ultrasonic sensor. This allows the higher-level computer system to monitor and control the ultrasonic sensor and read out the measurement results of the ultrasonic sensor.

The technical teaching presented here therefore deals with an ultrasonic sensor that exchanges data and commands with a higher-level computer system using a UART protocol via a UART data interface of the ultrasonic sensor. The ultrasonic sensor carries out a procedure for communication with the higher-level computer system using the UART protocol. The ultrasonic sensor carries out the ultrasonic measurement method, in particular for distance measurement in the vicinity of a vehicle, in successive and non-overlapping ultrasonic measurement cycles. The ultrasonic sensor carries out the respective current ultrasonic measurement cycle in at least three consecutive temporal phases and non-overlapping phases. The ultrasonic sensor starts the ultrasonic measurement cycle at the beginning of the first time phase of the ultrasonic measurement cycle. The document presented here also refers to this first phase of the ultrasonic measurement cycle as the command phase. Not all ultrasonic measurement cycles include a command phase.

In the sense of the document presented here, ultrasonic measurement cycles without a command phase are also considered to be three-phase, with the command phase then having a length of 0s. It is conceivable that a command phase can be valid for several subsequent ultrasonic measurement cycles. It is therefore conceivable that the command phase can be omitted for these subsequent ultrasonic measurement cycles. The number of such subsequent ultrasonic measurement cycles without a command phase is preferably precisely specified, so that the ultrasonic sensor preferably expects a command phase again after it has gone through these subsequent ultrasonic measurement cycles. If this were not the case, it could happen that the ultrasonic sensor would no longer be controllable.

In the sense of the document presented here, such subsequent further ultrasonic measurement cycles without their own command phase are also at least three-phase, since the associated command phase of such a subsequent ultrasonic measurement cycle is the command phase of a previous ultrasonic measurement cycle.

In the command phase, the ultrasonic sensor preferably receives a command from the higher-level computer system using the UART protocol via a UART data interface.

The command preferably indicates, among other things, what type of measurement the ultrasonic sensor should carry out in an ultrasonic measurement cycle, in particular in the ultrasonic measurement phase of the current ultrasonic measurement cycle that follows the command phase.

The ultrasonic sensor preferably sends out an ultrasonic burst or an ultrasonic signal at the beginning of the second phase, hereinafter referred to as the ultrasonic measurement phase. This ends the command phase. The ultrasonic transmitter does not receive any data about the ultrasonic measurement phase UART data interface. Instead, the ultrasonic transmitter uses the driver stage of the UART data interface in the ultrasonic measurement phase to signal the detection of the reception of echoes to the higher-level computer system. According to the proposal, the UART data interface of the ultrasonic sensor does not work in the UART mode with data transmission in the UART protocol in the ultrasonic measurement phase, but in a new signaling mode that deviates from the UART mode and that uses a special data protocol for particularly timely signaling of recorded events, in particular Echoes, from the ultrasonic sensor to the higher-level computer system. This means that the higher-level computer system receives timely and short-term information about potentially dangerous obstacles in the area around the vehicle and can react quickly. This is the only way to meet safety requirements in accordance with ISO 26262. Typically, edge changes of the data line of the ultrasound measurement phase occur synchronously in a substantially fixed phase relationship to the UART clock. More precisely: The edge changes preferably occur synchronously with the processing of the received signals of the ultrasound transducer. To control the ultrasonic transducer, the ultrasonic sensor preferably forms an internal transmission clock signal with a transmission frequency of the ultrasonic transducer. For this purpose, the ultrasonic sensor preferably forms a signal for clocking the data line, which is preferably in a fixed phase relationship with the transmission clock signal for generating the transmission signal for controlling the ultrasonic transducer. The edge changes of the signal for clocking the data line in the ultrasound measurement phase are preferably edge-synchronous to the edges of the transmission clock signal. The signal for clocking the data line, the UART clock, can have a frequency that is preferably an integer multiple of the transmit clock signal. The signal for clocking the data line, the UART clock, can also have a lower frequency than the frequency of the transmit clock signal. In the latter case, the frequency of the transmit clock signal is preferably an integer multiple of the frequency of the signal for clocking the data line, the UART clock.

Whenever the ultrasonic sensor has calculated a new value of the envelope curve, the ultrasonic sensor preferably compares this value of the envelope curve with the currently valid value of the threshold curve and decides whether an edge change of the data line takes place or not. In this case, the ultrasonic sensor can signal that the value curve of the envelope curve has been exceeded and/or fallen below the threshold value curve. Instead of signaling that the threshold curve has been exceeded and/or fallen below, the ultrasonic sensor can also check whether there is a local temporal maximum of the envelope curve above the current threshold curve. If necessary, if the ultrasonic sensor has calculated a new value of the envelope curve, the ultrasonic sensor checks whether there is a maximum of the envelope curve and whether the associated maximum value of the envelope curve is above the threshold curve. A problem with maximum detection is a time delay, firstly due to the time between the time course of the envelope curve exceeding the threshold curve and the occurrence of the maximum, and secondly due to the fact that in order for the maximum to be detected, the descent of the envelope curve must have already safely begun . This means that maximum detection may lead to a delay that is no longer acceptable. However, maximum detection has significant advantages in terms of precision, etc. It therefore makes sense if the higher-level computer system causes the ultrasonic sensor to switch between the two signaling from time to time using appropriate commands in the command phase for optimal detection.

The properties of the ultrasonic burst or the ultrasonic signal that the ultrasonic sensor preferably emits at the beginning of the ultrasonic measurement phase typically depend on a temporally preceding and/or the immediately preceding command, which the ultrasonic sensor sends in a temporally preceding and/or the immediately preceding received in the preceding command phase. For example, the command that the ultrasonic sensor previously received can specify exactly what type of ultrasonic burst or ultrasonic signal the ultrasonic transmitter should emit in the immediately following ultrasonic measurement phase. However, it is also conceivable that the command only specifies a part of the conceivable parameters of the ultrasound burst or ultrasound signal to be emitted in the ultrasound measurement phase. The ultrasonic sensor then preferably adopts these unchanged parameters of the ultrasonic burst or ultrasonic signal on a previous ultrasonic measurement cycle or from the immediately preceding ultrasonic measurement cycle. For example, it is conceivable that the command reverses the chip direction and thus only swaps the function of the lower corner frequency and starting frequency of the ultrasonic burst or the ultrasonic signal, but leaves the frequency values unchanged. Accordingly, it is conceivable that a command sets parameters of the ultrasound burst or the ultrasound signal for several ultrasound measurement cycles. Such parameters can be, for example, the starting frequency of the ultrasound burst or the end frequency of the ultrasound burst.

The ultrasonic sensor typically interrupts the data communication from the ultrasonic sensor to the higher-level computer system in the UART Mode with the UART protocol for the duration of the ultrasonic measurement phase and switches to a data communication mode, which the document presented here hereinafter refers to as signaling mode, in which the ultrasonic sensor signals the occurrence of predetermined events via the data line directly through signal pulses in a timely manner during the ultrasonic measurement phase. Accordingly, the ultrasonic sensor does not transmit any information other than these pulses to the higher-level computer system in the ultrasonic measurement phase. In particular, in the ultrasonic measurement phase, the ultrasonic sensor does not carry out any data communication from the ultrasonic sensor to the higher-level computer system in accordance with the UART protocol. Instead, the ultrasonic sensor carries out data communication from the ultrasonic sensor to the higher-level computer system in the ultrasonic measurement phase according to a special signaling protocol. The ultrasonic sensor preferably has a system clock generator for generating a system clock, which supplies one or more digital device subcircuits of the ultrasonic sensor with one or more clocks of a clock system of the ultrasonic sensor.

The ultrasonic sensor can also have a UART clock generator for generating a UART clock, which supplies one or more digital device subcircuits of the UART data interface of the ultrasonic sensor with one or more clock signals of a clock system of the UART data interface of the ultrasonic sensor. The system clock of the system clock generator is preferably so stable that the phase difference between the system clock and the synchronization clock that the higher-level computer system uses in the command phase to generate the synchronization command is less than 40% of half the system clock period, more preferably less than 20% of half the system clock period, better is less than 10% of half the system clock period.

Instead of the serial UART data transmission, the ultrasonic sensor sets the signal of the data bus of the UART data interface of the ultrasonic sensor to a first logical value during the ultrasonic measurement phase when the ultrasonic sensor does not receive an echo.

Instead of the serial UART data transmission, the ultrasonic sensor sets the signal of the data bus of the UART data interface of the ultrasonic sensor to a second logical value during the ultrasonic measurement phase when the ultrasonic sensor receives an echo, the second logical value preferably being different from the first logical value.

The ultrasonic sensor can, for example, end the ultrasonic measurement phase after a predetermined time and/or when predetermined conditions are present. For this purpose, the ultrasonic sensor preferably includes a timer in order to record the time that has already elapsed in the ultrasonic measurement phase. If a predetermined time has passed since the start of the ultrasonic measurement phase or a functionally equivalent time with a different reference point, the ultrasonic sensor preferably ends the ultrasonic measurement phase. The ultrasonic sensor then begins the third phase of the ultrasonic measurement cycle.

The ultrasonic sensor begins communication between the ultrasonic sensor and the higher-level computer system again in accordance with the UART protocol at the end of the ultrasonic measurement phase and/or at the beginning of the third phase of the ultrasonic measurement phase. Thus, when the end of the ultrasonic measurement phase is reached, the ultrasonic sensor preferably begins again with the UART data transmission of data from the ultrasonic sensor to the higher-level computer unit.

The ultrasonic sensor is thus set up to transmit data from the ultrasonic sensor to the higher-level computer system in the third phase of the ultrasonic measurement cycle.

This has the advantage that the higher-level computer system can configure the ultrasonic sensor very quickly in the command phase and can quickly make an increased amount of measurement data available to the higher-level computer system in the third phase of the ultrasonic measurement cycle. This is of particular importance for safety-relevant systems, which are intended to ensure a timely response from a vehicle's safety systems.

1. 1. Statusinformationen, die Messwerte physikalischer Parameter des Ultraschallsensors wiedergeben, wobei der Ultraschallsensor hier bevorzugt Messwerte von Spannungswerten von Leitungen innerhalb des Ultraschallsensors gegenüber einem Bezugspotenzial und/oder Messwerte von Stromwerten innerhalb von Leitungen innerhalb des Ultraschallsensors als Daten an das übergeordnete Rechnersystem übermittelt;
2. 2. Statusinformationen, die logische Werte logischer Schaltnetzwerke innerhalb des Ultraschallsensors wiedergeben;
3. 3. Statusinformationen, die Ergebnisse von Selbsttests des Ultraschallsensors wiedergeben;
4. 4. Statusinformationen, die Messwerte der Ultraschallübertragungsstrecke des Ultraschallsensors wiedergeben, in die der Ultraschallsensor hineinsendet und/oder aus der er Ultraschallsignale empfängt;
5. 5. Statusinformationen, die angeben, welche Art von Ultraschallburst und/oder Ultraschallsignal der Ultraschallsensor in der unmittelbar vorausgehenden Ultraschallmessphase ausgesendet haben will;
6. 6. Statusinformationen, die Werte des Ultraschallbursts und/oder Ultraschallsignals des Ultraschallsensors angeben, den der Ultraschallsensor in der unmittelbar vorausgehenden Ultraschallmessphase ausgesendet haben will;
7. 7. Informationen, die Werte des Ultraschallbursts und/oder Ultraschallsignals des angeben, den der Ultraschallsensor in der unmittelbar vorausgehenden Ultraschallmessphase empfangen haben will;
8. 8. Echoinformationen, die Messwerte der in der Ultraschallmessphase empfangenen Echos wiedergeben, wobei diese Messwerte insbesondere die Nummer des Echos und/oder den Zeitpunkt des Empfangs des Echos und/oder einen Vertrauenswert für die Wahrscheinlichkeit, dass das Echo tatsächlich ein Echo eines Objekts in der Ultraschallübertragungsstrecke des Ultraschallsensors ist, in die der Ultraschallsensor hineinsendet und/oder aus der er Ultraschallsignale empfängt;
9. 9. Kommandoinformationen, die angeben, welche Kommandos bzw. welches Kommando der Ultraschallsensor in einer der vorausgehenden Kommandophasen und/oder in der unmittelbar vorausgehenden Kommandophase empfangen hat;
10. 10. Kommandoinformationen, die angeben, welche Kommandos bzw. welches Kommando der Ultraschallsensor in einer der vorausgehenden Kommandophasen und/oder in der unmittelbar vorausgehenden Kommandophase empfangen hat und die bestimmt haben, welche Art von Ultraschallburst bzw. Ultraschallsignal der Ultraschallsensor ausgesendet hat;
11. 11. Prüfinformationen der in der dritten Phase des Ultraschallmesszyklus übertragenen Daten, insbesondere CRC-Daten oder dergleichen, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der Daten zu prüfen, die der Ultraschallsensor an das übergeordnete Rechnersystem in der dritten Phase des Ultraschallmesszyklus überträgt;
12. 12. Prüfinformationen der in der Ultraschallmessphase signalisierten Informationen, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der in der Ultraschallmessphase signalisierten Informationen zu prüfen;
13. 13. Prüfinformationen der in der Kommandophase signalisierten Kommandos, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der in der in der Kommandophase signalisierten Kommandos durch den Ultraschallsensor zu prüfen;
14. 14. Prüfinformationen der in der Kommandophase signalisierten Kommandos, die angeben, ob der Ultraschallsensor bei der Übertragung eines oder mehrerer Kommandos in der Kommandophase einen Fehler erkannt hat;
15. 15. Prüfinformationen, die die Ergebnisse von Selbsttests oder Tests des Ultraschallsensors wiedergeben;
16. 16. Längeninformationen, die angeben oder die es ermöglichen zu berechnen, wie viele Daten der Ultraschallsensor in der dritten Phase des Ultraschallmesszyklus vom Ultraschallsensor zum übergeordneten Rechnersystem übertragenen wird.
17. 17. Die Statusinformationen, die der Ultraschallsensor in der dritten Phase des Ultraschallmesszyklus an das übergeordnete Rechnersystem übermittelt und die bevorzugt Messwerte physikalischer Parameter und/oder analoger Signale innerhalb und im Umfeld des Ultraschallsensors wiedergeben, umfassen bevorzugt interne, Spannungswerten von Leitungen innerhalb des Ultraschallsensors gegenüber einem Bezugspotenzial, beispielsweise einer Masseleitung, und/oder Messwerte von Stromwerten innerhalb von Leitungen innerhalb des Ultraschallsensors. Diese Werte sollten sich typischerweise innerhalb vorbestimmter Werteintervallen bewegen, sodass das übergeordnete Rechnersystem diese beispielsweise als Diagnosewerte und/oder als Steuerungsparameter für eine Korrektur von Ultraschallsensorbetriebsparametern verwenden kann. Ein beispielhafter Wert, den das übergeordnete Rechnersystem auf diese Weise in Erfahrung bringen kann, kann beispielsweise eine Temperatur eines Vorrichtungsteils des Ultraschallsensors sein.
18. 18. Statusinformationen, die logische Werte logischer Schaltnetzwerke innerhalb des Ultraschallsensors wiedergeben, können zum Beispiel Informationen umfassen, die Vorrichtungsteile des Ultraschallsensors für die übergeordnete Rechnereinheit bereitstellen. Solche Informationen können beispielsweise Ergebnisse von Selbsttests, Fehler-Flags etc. umfassen.
19. 19. Statusinformationen, die Ergebnisse von Selbsttests des Ultraschallsensors wiedergeben. Hierbei kann es sich beispielsweise um Registerwerte von BIST-Vorrichtungen (BIST= Englisch Build-In-Self-Test = eingebaute Selbsttestvorrichtung) des Ultraschallsensors oder von Teilvorrichtungen des Ultraschallsensors handeln. Auch kann es sich um Messwerte analoger Werte von Spannungswerten von Schaltungsknoten innerhalb des Ultraschallsensors und/oder von Stromwerten der elektrischen Ströme elektrischer Leitungen innerhalb des Ultraschallsensors und/oder von Messwerten anderer physikalischer Parameter handeln. Solche anderen physikalischen Parameter können beispielsweise Temperaturmesswerte von Orten innerhalb des Ultraschallsensors oder von außerhalb des Ultraschallsensors insbesondere aus dessen Umfeld sein. Auch können solche anderen physikalischen Parameter beispielsweise erfasste mechanische Parameter von Vorrichtungsteilen des Ultraschallsensors sein. Hier kommen beispielsweise Messwerte des Schwingungsverhaltens und/oder des Dämpfungsverhaltens der Schwingkörper des Ultraschallsensors in Frage. Außerdem können beispielweise solche Messwerte Laufzeitwerte von Ultraschallsignalen von anderen Ultraschallsensoren zu diesem Ultraschallsensor und/oder die ermittelten Parameter solcher Ultraschallsignale zwischen Ultraschallsystemen innerhalb eines Ultraschallsystems mit mehreren Ultraschallsensoren sein, deren Teil der Ultraschallsensor und das übergeordnete Rechnersystem sind. Die Vorrichtungsteile, also beispielsweise ein oder mehrere Ultraschallsensoren und das übergeordnete Rechnersystem, eines solchen Ultraschallsystems sind bevorzugt zumindest teilweise über einen oder mehrere Datenverbindungen miteinander verbunden.
20. 20. Statusinformationen, die Messwerte der Ultraschallübertragungsstrecke des Ultraschallsensors wiedergeben, in die der Ultraschallsensor hineinsendet und/oder aus der er Ultraschallsignale empfängt. Bevorzugt charakterisiert der Ultraschallsensor im Betrieb die Übertragungsstrecke vom Ultraschallsensor zu einem Objekt und zurück. Im einfachsten Fall kann es sich bei diesen Daten um die Daten eines Objekts handeln. Es kann sich aber auch um Daten handeln, die beispielsweise angeben, wie sich ein beispielsweise zuvor detektiertes Echo wahrscheinlich bis zur nächsten Messung verändern wird bzw. um Daten, die eine solche Vorhersage ermöglichen oder unterstützen.
21. 21. Statusinformationen, die angeben, welche Art von Ultraschallburst und/oder Ultraschallsignal der Ultraschallsensor in einer vorausgehenden Ultraschallmessphase ausgesendet haben will. Hier übergibt der Ultraschallsensor typischerweise die Daten des ausgesendeten Ultraschallbursts oder Ultraschallsignals bzw. einen oder mehrere Parameter der Parameter, mit denen die Teilvorrichtung des Ultraschallsensors bei der Aussendung eines zeitlich vorausgehenden Ultraschallbursts bzw. Ultraschallsignals konfiguriert war. Dies ermöglicht es dem übergeordneten Rechnersystem die Korrektheit der Konfiguration des Ultraschallsensors und der relevanten Teilvorrichtungen des Ultraschallsensors zu überprüfen.
22. 22. Statusinformationen, die angeben, welche Art von Ultraschallburst und/oder Ultraschallsignal der Ultraschallsensor in der unmittelbar vorausgehenden Ultraschallmessphase ausgesendet haben will. Hier übergibt der Ultraschallsensor typischerweise die Daten des unmittelbar zuvor ausgesendeten Ultraschallbursts oder Ultraschallsignals bzw. einen oder mehrere Parameter der Parameter, mit denen die Teilvorrichtung des Ultraschallsensors bei der Aussendung eines zeitlich unmittelbar vorausgehenden Ultraschallbursts bzw. Ultraschallsignals konfiguriert war. Dies ermöglicht es dem übergeordneten Rechnersystem die Korrektheit der Konfiguration des Ultraschallsensors und der relevanten Teilvorrichtungen des Ultraschallsensors zu überprüfen.
23. 23. Informationen, die Werte des Ultraschallbursts und/oder Ultraschallsignals angeben, den der Ultraschallsensor in der unmittelbar vorausgehenden Ultraschallmessphase empfangen haben will. Hierbei kann es sich beispielsweise
    1. a. um den Wert einer detektierten zeitlichen Verzögerung eines empfangenen Ultraschallbursts und/oder eines Ultraschallsignals gegenüber einem Referenzzeitpunkt innerhalb der Ultraschallmessphase und/oder
    2. b. um den Wert einer empfangenen Maximalamplitude des empfangenen Ultraschallbursts und/oder des empfangenen Ultraschallsignals und/oder
    3. c. um einem ermittelten Wert einer Bewertung des empfangenen Ultraschallbursts und/oder des empfangenen Ultraschallsignals (Confidence-Level), und/oder
    4. d. um einen Wert, der angibt, ob der empfangene Ultraschallburst und/oder das empfangene Ultraschallsignal eine Kodierung aufwies, und/oder
    5. e. um einen Wert, der angibt, ob der empfangene Ultraschallburst und/oder das empfangene Ultraschallsignal einen Chirp aufwies, und/oder
    6. f. um einen Wert, der angibt, ob der empfangene Ultraschallburst und/oder das empfangene Ultraschallsignal einen Chirp einer bestimmten Chirp-Richtung aufwies, und/oder
    7. g. um einen Wert, der angibt, ob der empfangene Ultraschallburst und/oder das empfangene Ultraschallsignal mit einem zuvor in einem zeitlich vorausgehenden Ultraschallmesszyklus empfangenen Ultraschallburst und/oder einem zuvor in einem zeitlich vorausgehenden Ultraschallmesszyklus empfangenen Ultraschallsignal korreliert ist, wobei dies bei sich bewegenden Objekten im Umfeld des Ultraschallsensors beispielsweise die Echos eines solchen sich bewegenden Objekts über mehrere Ultraschallmesszyklen hinweg verketten kann.
24. 24. Echoinformationen, die Messwerte der in der Ultraschallmessphase empfangenen Echos wiedergeben, wobei diese Messwerte insbesondere die Nummer des Echos innerhalb des aktuellen Ultraschallmesszyklus und/oder insbesondere die Nummer des Echos innerhalb einer vorbestimmten Anzahl von Ultraschallmesszyklen und/oder insbesondere die Nummer des Echos seit der Inbetriebnahme des Ultraschallmesszyklus und/oder den Zeitpunkt des Empfangs des Echos und/oder die maximale Amplitude des Echos und/oder einen Vertrauenswert für die Wahrscheinlichkeit, dass das Echo tatsächlich ein Echo eines Objekts in der Ultraschallübertragungsstrecke des Ultraschallsensors ist, in die der Ultraschallsensor hineinsendet und/oder aus der der Ultraschallsensor Ultraschallsignale empfängt. Dies hat den Vorteil, dass der Ultraschallsensor hier dem übergeordneten Rechnersystem weitere Zusatzinformationen zur Verfügung stellt, die es dem übergeordneten Rechnersystem ermöglichen, die empfangenen Echos sicher zu bewerten.
25. 25. Kommandoinformationen, die angeben, welche Kommandos bzw. welches Kommando der Ultraschallsensor in einer der vorausgehenden Kommandophasen und/oder in der unmittelbar vorausgehenden Kommandophase empfangen hat. Dies ermöglicht es dem übergeordneten Rechnersystem, zu überprüfen, ob der Ultraschallsensor die übergebenen Kommandos richtig erkannt und ausgeführt hat. Beispielsweise kann der Ultraschalsensor hier auch Abweichungen von den Vorgaben, beispielsweise aufgrund eines irgendwie gearteten, aber notwendigen Notlaufs des Ultraschallsensors an das übergeordnete Rechnersystem signalisieren.
26. 26. Kommandoinformationen, die angeben, welche Kommandos bzw. welches Kommando der Ultraschallsensor in einer der vorausgehenden Kommandophasen und/oder in der unmittelbar vorausgehenden Kommandophase empfangen hat und die bestimmt haben, welche Art von Ultraschallburst bzw. Ultraschallsignal der Ultraschallsensor ausgesendet hat. Dies ermöglicht es dem übergeordneten Rechnersystem ebenfalls, zu überprüfen, ob der Ultraschallsensor die übergebenen Kommandos richtig erkannt und ausgeführt hat. Beispielsweise kann der Ultraschalsensor hier auch hier wieder Abweichungen von den Vorgaben, beispielsweise aufgrund eines irgendwie gearteten, aber notwendigen Notlaufs des Ultraschallsensors an das übergeordnete Rechnersystem signalisieren.;
27. 27. Prüfinformationen der in der dritten Phase des Ultraschallmesszyklus übertragenen Daten, insbesondere CRC-Daten (CRC=Englisch: Cyclic Redundancy Check= Zyklische Redundanzprüfung) oder dergleichen, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der Daten zu prüfen, die der Ultraschallsensor an das übergeordnete Rechnersystem in der dritten Phase des Ultraschallmesszyklus überträgt. Weitere Informationen finden sich beispielsweise unter https://de.wikipedia.org/wiki/Zyklische_Redundanzpr%C3%BCfung. Lt. Wikipedia (Download 22.07.2022) ist die zyklische Redundanzprüfung (englisch cyclic redundancy check, daher meist CRC) ist ein „Verfahren zur Bestimmung eines Prüfwerts für Daten, um Fehler bei der Übertragung oder Speicherung erkennen zu können. Im Idealfall kann das Verfahren sogar die empfangenen Daten selbständig korrigieren, um eine erneute Übertragung zu vermeiden.“.
28. 28. Prüfinformationen der in der Ultraschallmessphase signalisierten Informationen, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der in der Ultraschallmessphase signalisierten Informationen zu prüfen. Sofern das übergeordnete Rechnersystem und der Ultraschallsensor geeignete Prüfinformationen verwenden, kann das übergeordnete Rechnersystem diese nutzen, um ggf. eine fehlerhafte Signalisierung der Informationen in der Ultraschallmessphase vom Ultraschallsensor zum übergeordneten Rechnersystem zu erkennen und ggf. sofern noch möglich korrigieren. Da der Ultraschallsensor die Informationen in der Ultraschallmessphase getaktet synchron zum Systemtakt oder dem UART-Takt oder dem Sendetakt des Sendetaktsignals überträgt, können beispielsweise die so in der Ultraschallmessphase über den Datenbus übertragenen Bits als ein langes Datenwort betrachtet werden. Der Ultraschallsensor kann für dieses extrem lange Datenwort der Signalisierung der Übertragung der Informationen in der Ultraschallmessphase oder für Teile desselben eine erste Prüfinformation - beispielsweise ein Parity-Bit oder ein CRC-Statuswort oder dergleichen - berechnen und an das übergeordnete Rechnersystem übertragen. In der Folge kann das übergeordnete Rechnersystem eine fehlerhafte Informationssignalisierung in der Ultraschallmessphase erkennen. Hierzu berechnet vorzugsweise das übergeordnete Rechnersystem bevorzugt eine rechnersystemseitige, zweite Prüfinformation in analoger Weise aus den durch das übergeordnete Rechnersystem vom Ultraschallsensor in der Ultraschallmessphase empfangenen Daten und vergleicht diese zweite Prüfinformation mit der ersten Prüfinformation, die das übergeordnete Rechnersystem vom Ultraschallsensor erhalten hat. Bei einer Nichtübereinstimmung der ersten Prüfinformation mit der zweiten Prüfinformation kann beispielsweise das übergeordnete Rechnersystem die in der Ultraschallmessphase vom Ultraschallsensor empfangenen Informationenverwerfen oder in zumindest unschädlicher Weise oder zumindest in weniger schädlicher Weise verwenden.
29. 29. Prüfinformationen der in der Kommandophase signalisierten Kommandos, wobei das übergeordnete Rechnersystem diese Prüfinformationen prüfen kann, um den ordnungsgemäßen Empfang der in der in der Kommandophase signalisierten Kommandos durch den Ultraschallsensor zu prüfen. Beispielsweise kann der Ultraschallsensor in der Kommandophase die Prüfinformation des empfangenen Kommandos ermitteln und hier an das übergeordnete Rechnersystem zurückspiegeln.
30. 30. Prüfinformationen der in der Kommandophase signalisierten Kommandos, die angeben, ob der Ultraschallsensor bei der Übertragung eines oder mehrerer Kommandos in der Kommandophase einen Fehler erkannt hat. Dies ist insbesondere dann möglich, wenn das übergeordnete Rechnersystem dem Ultraschallsensor ein oder mehrere Kommandos mit einer ersten Prüfinformation, beispielsweise einem Parity-Bit und/oder CRC-Prüfdaten übermittelt. Bevorzugt ermittelt der Ultraschallsensor auf Basis des empfangenen Kommandos bzw. der empfangenen Kommandos eine zweite Prüfinformation und prüft diese gegen die erste Prüfinformation. Hierdurch kann der Ultraschallsensor ein fehlerhaftes Kommando erkennen und ein Fehlkonfiguration des Ultraschallsensors mitten im Betrieb vermeiden. Durch die Rückmeldung an das übergeordnete Rechnersystem versetzt der Ultraschallsensor das übergeordnete Rechnersystem in die Lage, im Falle der fehlerhaften Übermittlung eines Kommandos an den Ultraschallsensor Gegenmaßnahmen zu ergreifen, beispielsweise das nicht erfolgreich übermittelte Kommando erneut an den Ultraschallsensor zu senden.;
31. 31. Längeninformationen, die angeben oder die es ermöglichen zu berechnen, wie viele Daten der Ultraschallsensor in der dritten Phase des Ultraschallmesszyklus vom Ultraschallsensor zum übergeordneten Rechnersystem übertragenen wird.

In a first variant of the ultrasonic sensor presented in this document, for example, the data that the ultrasonic sensor can transmit from the ultrasonic sensor to the higher-level computer system in the third phase of the ultrasonic measurement cycle can include one or more of the following data:

1. 1. Status information that reflects measured values of physical parameters of the ultrasonic sensor, the ultrasonic sensor here preferably transmitting measured values of voltage values of lines within the ultrasonic sensor relative to a reference potential and / or measured values of current values within lines within the ultrasonic sensor as data to the higher-level computer system;
2. 2. Status information that reflects logical values of logical switching networks within the ultrasonic sensor;
3. 3. Status information reflecting results of ultrasonic sensor self-tests;
4. 4. Status information that reflects measured values of the ultrasonic transmission path of the ultrasonic sensor, into which the ultrasonic sensor sends and / or from which it receives ultrasonic signals;
5. 5. Status information indicating what type of ultrasonic burst and/or ultrasonic signal the ultrasonic sensor wants to have emitted in the immediately preceding ultrasonic measurement phase;
6. 6. Status information indicating values of the ultrasonic burst and/or ultrasonic signal of the ultrasonic sensor that the ultrasonic sensor claims to have emitted in the immediately preceding ultrasonic measurement phase;
7. 7. Information indicating values of the ultrasonic burst and/or ultrasonic signal that the ultrasonic sensor claims to have received in the immediately preceding ultrasonic measurement phase;
8. 8. Echo information that reproduces measured values of the echoes received in the ultrasonic measurement phase, these measured values in particular the number of the echo and / or the time of reception of the echo and / or a confidence value for the probability that the echo is actually an echo of an object in the Ultrasonic transmission path of the ultrasonic sensor is into which the ultrasonic sensor sends and/or from which it receives ultrasonic signals;
9. 9. Command information indicating which commands the ultrasonic sensor received in one of the preceding command phases and/or in the immediately preceding command phase;
10. 10. Command information that indicates which commands or command the ultrasonic sensor received in one of the preceding command phases and/or in the immediately preceding command phase and which determined what type of ultrasonic burst or ultrasonic signal the ultrasonic sensor emitted;
11. 11. Test information of the data transmitted in the third phase of the ultrasonic measurement cycle, in particular CRC data or the like, whereby the higher-level computer system can check this test information in order to check the proper reception of the data that the ultrasonic sensor sends to the higher-level computer system in the third phase of the Ultrasonic measurement cycle transmits;
12. 12. Test information of the information signaled in the ultrasonic measurement phase, whereby the higher-level computer system can check this test information in order to check the proper reception of the information signaled in the ultrasonic measurement phase;
13. 13. Test information of the commands signaled in the command phase, whereby the higher-level computer system can check this test information in order to check the proper reception of the commands signaled in the command phase by the ultrasonic sensor;
14. 14. Test information for the commands signaled in the command phase, indicating whether the ultrasonic sensor detected an error when transmitting one or more commands in the command phase;
15. 15. Test information reflecting the results of self-tests or tests of the ultrasonic sensor;
16. 16. Length information that indicates or makes it possible to calculate how much data the ultrasonic sensor will transmit from the ultrasonic sensor to the higher-level computer system in the third phase of the ultrasonic measurement cycle.
17. 17. The status information that the ultrasonic sensor transmits to the higher-level computer system in the third phase of the ultrasonic measurement cycle and which preferably reflects measured values of physical parameters and/or analog signals within and in the vicinity of the ultrasonic sensor preferably includes internal voltage values of lines within the ultrasonic sensor relative to one Reference potential, for example a ground line, and/or measured values of current values within lines within the ultrasonic sensor. These values should typically be within predetermined value intervals, so that the higher-level computer system can use them, for example, as diagnostic values and/or as control parameters for correcting ultrasonic sensor operating parameters. An exemplary value that the higher-level computer system can find out in this way can, for example, be a temperature of a device part of the ultrasonic sensor.
18. 18. Status information, the logical values of logical switching networks within the Ultra Sound sensor can, for example, include information that provides device parts of the ultrasonic sensor for the higher-level computer unit. Such information may include, for example, self-test results, error flags, etc.
19. 19. Status information reflecting results of ultrasonic sensor self-tests. These can be, for example, register values of BIST devices (BIST = Build-In-Self-Test = built-in self-test device) of the ultrasonic sensor or of sub-devices of the ultrasonic sensor. They can also be measured values of analog values of voltage values of circuit nodes within the ultrasonic sensor and/or of current values of the electrical currents of electrical lines within the ultrasonic sensor and/or of measured values of other physical parameters. Such other physical parameters can be, for example, temperature measurements from locations within the ultrasonic sensor or from outside the ultrasonic sensor, in particular from its surroundings. Such other physical parameters can also be, for example, recorded mechanical parameters of device parts of the ultrasonic sensor. For example, measured values of the vibration behavior and/or the damping behavior of the oscillating bodies of the ultrasonic sensor come into question here. In addition, such measured values can, for example, be transit time values of ultrasonic signals from other ultrasonic sensors to this ultrasonic sensor and/or the determined parameters of such ultrasonic signals between ultrasonic systems within an ultrasonic system with several ultrasonic sensors, of which the ultrasonic sensor and the higher-level computer system are part. The device parts, for example one or more ultrasonic sensors and the higher-level computer system, of such an ultrasonic system are preferably at least partially connected to one another via one or more data connections.
20. 20. Status information that reflects measured values of the ultrasonic transmission path of the ultrasonic sensor, into which the ultrasonic sensor sends and/or from which it receives ultrasonic signals. During operation, the ultrasonic sensor preferably characterizes the transmission path from the ultrasonic sensor to an object and back. In the simplest case, this data can be the data of an object. However, it can also be data that indicates, for example, how a previously detected echo is likely to change by the next measurement or data that enables or supports such a prediction.
21. 21. Status information that indicates what type of ultrasonic burst and/or ultrasonic signal the ultrasonic sensor wants to have emitted in a previous ultrasonic measurement phase. Here, the ultrasonic sensor typically transfers the data of the emitted ultrasonic burst or ultrasonic signal or one or more parameters of the parameters with which the sub-device of the ultrasonic sensor was configured when emitting a preceding ultrasonic burst or ultrasonic signal. This enables the higher-level computer system to check the correctness of the configuration of the ultrasonic sensor and the relevant sub-devices of the ultrasonic sensor.
22. 22. Status information that indicates what type of ultrasonic burst and/or ultrasonic signal the ultrasonic sensor wants to have emitted in the immediately preceding ultrasonic measurement phase. Here, the ultrasonic sensor typically transfers the data of the ultrasonic burst or ultrasonic signal that was emitted immediately before or one or more parameters of the parameters with which the sub-device of the ultrasonic sensor was configured when an immediately preceding ultrasonic burst or ultrasonic signal was emitted. This enables the higher-level computer system to check the correctness of the configuration of the ultrasonic sensor and the relevant sub-devices of the ultrasonic sensor.
23. 23. Information indicating values of the ultrasonic burst and/or ultrasonic signal that the ultrasonic sensor claims to have received in the immediately preceding ultrasonic measurement phase. This can be the case, for example
    1. a. around the value of a detected time delay of a received ultrasound burst and / or an ultrasound signal compared to a reference time within the ultrasound measurement phase and / or
    2. b. around the value of a received maximum amplitude of the received ultrasonic burst and / or the received ultrasonic signal and / or
    3. c. around a determined value of an evaluation of the received ultrasound burst and/or the received ultrasound signal (confidence level), and/or
    4. d. a value that indicates whether the received ultrasound burst and/or the received ultrasound signal had a coding, and/or
    5. e. a value indicating whether the received ultrasonic burst and/or the received ultrasonic signal had a chirp, and/or
    6. f. a value indicating whether the received ultrasonic burst and/or the received ultrasonic signal had a chirp of a specific chirp direction, and/or
    7. G. a value that indicates whether the received ultrasound burst and/or the received ultrasound signal is correlated with an ultrasound burst previously received in a previous ultrasound measurement cycle and/or an ultrasound signal previously received in a previous ultrasound measurement cycle, this being the case with moving objects in the environment of the ultrasonic sensor, for example, can chain the echoes of such a moving object over several ultrasonic measurement cycles.
24. 24. Echo information that reproduces measured values of the echoes received in the ultrasonic measurement phase, these measured values in particular the number of the echo within the current ultrasonic measurement cycle and / or in particular the number of the echo within a predetermined number of ultrasonic measurement cycles and / or in particular the number of the echo since Commissioning of the ultrasonic measurement cycle and/or the time of reception of the echo and/or the maximum amplitude of the echo and/or a confidence value for the probability that the echo is actually an echo of an object in the ultrasonic transmission path of the ultrasonic sensor into which the ultrasonic sensor sends and /or from which the ultrasonic sensor receives ultrasonic signals. This has the advantage that the ultrasonic sensor provides the higher-level computer system with further additional information, which enables the higher-level computer system to reliably evaluate the received echoes.
25. 25. Command information indicating which commands the ultrasonic sensor received in one of the preceding command phases and/or in the immediately preceding command phase. This enables the higher-level computer system to check whether the ultrasonic sensor has correctly recognized and executed the commands passed. For example, the ultrasonic sensor can also signal deviations from the specifications to the higher-level computer system, for example due to some kind of but necessary emergency operation of the ultrasonic sensor.
26. 26. Command information that indicates which commands or command the ultrasonic sensor received in one of the preceding command phases and/or in the immediately preceding command phase and which determined what type of ultrasonic burst or ultrasonic signal the ultrasonic sensor emitted. This also enables the higher-level computer system to check whether the ultrasonic sensor has correctly recognized and executed the commands passed. For example, the ultrasonic sensor can here again signal deviations from the specifications, for example due to some kind of but necessary emergency operation of the ultrasonic sensor, to the higher-level computer system.;
27. 27. Test information of the data transmitted in the third phase of the ultrasonic measurement cycle, in particular CRC data (CRC = Cyclic Redundancy Check) or the like, whereby the higher-level computer system can check this test information in order to check the proper receipt of the data, which the ultrasonic sensor transmits to the higher-level computer system in the third phase of the ultrasonic measurement cycle. Further information can be found, for example, at https://de.wikipedia.org/wiki/Zyklische_Redundanzpr%C3%BCfung. Lt. Wikipedia (Download July 22, 2022) is the cyclic redundancy check (English cyclic redundancy check, therefore usually CRC) is a “procedure for determining a check value for data in order to be able to detect errors during transmission or storage. Ideally, the process can even correct the received data independently in order to avoid retransmission.”
28. 28. Test information of the information signaled in the ultrasonic measurement phase, whereby the higher-level computer system can check this test information in order to check the proper reception of the information signaled in the ultrasonic measurement phase. If the higher-level computer system and the ultrasonic sensor use suitable test information, the higher-level computer system can use this to detect, if necessary, incorrect signaling of the information in the ultrasonic measurement phase from the ultrasonic sensor to the higher-level computer system and, if necessary, correct it. Since the ultrasonic sensor carries the information in In the ultrasonic measurement phase, the bits transmitted via the data bus in the ultrasonic measurement phase can, for example, be viewed as a long data word. The ultrasonic sensor can calculate first test information - for example a parity bit or a CRC status word or the like - for this extremely long data word for signaling the transmission of information in the ultrasonic measurement phase or for parts of it and transmit it to the higher-level computer system. As a result, the higher-level computer system can detect incorrect information signaling in the ultrasound measurement phase. For this purpose, the higher-level computer system preferably calculates second test information on the computer system side in an analogous manner from the data received by the higher-level computer system from the ultrasonic sensor in the ultrasonic measurement phase and compares this second test information with the first test information that the higher-level computer system received from the ultrasonic sensor. If the first test information does not match the second test information, the higher-level computer system can, for example, discard the information received from the ultrasonic sensor in the ultrasonic measurement phase or use it in at least a harmless manner or at least in a less harmful manner.
29. 29. Test information of the commands signaled in the command phase, whereby the higher-level computer system can check this test information in order to check the proper reception of the commands signaled in the command phase by the ultrasonic sensor. For example, in the command phase, the ultrasonic sensor can determine the test information of the received command and reflect it back to the higher-level computer system.
30. 30. Test information for the commands signaled in the command phase, which indicates whether the ultrasonic sensor detected an error when transmitting one or more commands in the command phase. This is possible in particular if the higher-level computer system transmits one or more commands with first test information, for example a parity bit and/or CRC test data, to the ultrasonic sensor. The ultrasonic sensor preferably determines second test information based on the received command or commands and checks this against the first test information. This allows the ultrasonic sensor to recognize an incorrect command and avoid misconfiguration of the ultrasonic sensor in the middle of operation. By providing feedback to the higher-level computer system, the ultrasonic sensor enables the higher-level computer system to take countermeasures in the event of an incorrect transmission of a command to the ultrasonic sensor, for example to resend the unsuccessfully transmitted command to the ultrasonic sensor.;
31. 31. Length information that indicates or makes it possible to calculate how much data the ultrasonic sensor will transmit from the ultrasonic sensor to the higher-level computer system in the third phase of the ultrasonic measurement cycle.

In a second variant of the ultrasonic sensor presented here, the ultrasonic sensor typically generates a received signal internally within the ultrasonic sensor from an ultrasonic transducer of the ultrasonic sensor or an ultrasonic receiver of the ultrasonic sensor. The ultrasonic sensor preferably forms this signal as a function of an acoustic ultrasonic signal that the ultrasonic sensor receives or has received.

One problem is that the UART data interface of the ultrasonic sensor requires a UART clock that is frequency and phase stable to the clock that the higher-level computer system uses for its UART data interface.

For this purpose, the document presented here firstly suggests that the ultrasonic sensor transmits a synchronization signal for synchronizing the UART clock frequency of a participant in the UART communication via the UART data interface. This allows the ultrasonic sensor to synchronize the UART clock generator of the higher-level computer system and thus the UART clock of the UART data interface of the higher-level computer system with the UART clock of the UART data interface of the ultrasonic sensor. For example, the UART data interface of the ultrasonic sensor can send a synchronization pulse or a sequence of alternating ones and zeros (sequences 01010101... or 10101010...). For example, the UART data interface of the higher-level computer system can recognize such a synchronization signal and provide the UART clock generator of the higher-level computer system with a corresponding actual signal for the frequency and / or the phase, whereupon the UART clock generator of the higher-level computer system receives the UART clock of the higher-level computer system applies, so that ultimately the UART clock of the higher-level computer system works synchronously and essentially at the same frequency as the UART clock or system clock of the ultrasonic sensor.

For this purpose, the document presented here secondly suggests that the higher-level computer system transmits a synchronization signal for synchronizing the UART clock frequency of a participant in the UART communication via the UART data interface. This allows the higher-level computer system to synchronize the UART clock generator of the ultrasonic sensor and thus the UART clock of the UART data interface of the ultrasonic sensor with the UART clock of the UART data interface of the higher-level computer system. For example, the UART data interface of the higher-level computer system can send a synchronization pulse or a sequence of alternating ones and zeros (sequences 01010101... or 10101010...). For example, the UART data interface of the ultrasonic sensor can recognize such a synchronization signal and provide the UATT clock generator of the ultrasonic sensor with a corresponding actual signal for the frequency and/or the phase, whereupon the UART clock generator of the ultrasonic sensor readjusts the UART clock of the ultrasonic sensor , so that ultimately the UART clock of the ultrasonic sensor works synchronously and essentially at the same frequency as the UART clock or system clock of the higher-level computer system.

In a third variant of the device presented here, the ultrasonic sensor has a system clock and/or a UART system clock of the UART data interface. In this third variant, the ultrasonic sensor changes parameters of the system clock and/or the UART system clock depending on a synchronization signal typically transmitted to the ultrasonic sensor by the higher-level computer system for synchronizing the UART clock frequency.

In a fourth variant, the ultrasonic sensor can receive one or more commands in the command phase. The ultrasonic sensor preferably checks such a received command or a received combination of several received commands for admissibility. Preferably, the ultrasonic sensor executes one or more received and permissible commands, preferably within the ultrasonic measurement phase or the subsequent third phase within the ultrasonic measurement cycle, but at least within one or more of the subsequent ultrasonic measurement phases. Such a command may include one or more of the following commands and/or subcommands.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be synchronization information for synchronizing a system clock of the ultrasonic sensor and/or a UART clock of the UART data interface of the ultrasonic sensor, for example with the UART clock and/or a system clock of the higher-level computer system.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be length information that indicates what length the following command or the rest of the command has and/or how much command data the following command or the rest of the command contains Commands included. The higher-level computer system can, for example, transmit this length to the ultrasonic sensor in bits, bytes, data words, number of commands and the like, depending on the implementation. The length of the command transmitted by the higher-level computer system to the ultrasonic sensor in the command phase, for example as a subcommand, can be the length of the command, the length of the rest of the command and/or the length of several commands and/or the length of sub-commands of the command and/or the length of a group of sub-commands of the command

A command and/or subcommand that the ultrasonic sensor receives can, for example, be a check information item, in particular a check bit and/or a check value, such as in particular a CRC check sum, of the command and/or several commands and/or of Subcommands of the command and/or a group of subcommands of the command act.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be the number of subcommands that form the entire command. This allows the ultrasonic sensor to check whether it has recognized the correct number of commands or subcommands. For example, if the ultrasonic sensor determines that it has not recognized the correct number of commands or subcommands, it can, for example, reject all commands of such a command or subcommand sequence.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor is the ultra Sound measurement should be carried out repeatedly in the ultrasonic measurement phase in the way that the ultrasonic sensor carried out during the last measurement in the last ultrasonic measurement phase of the last ultrasonic measurement cycle. This reduces the necessary bus bandwidth.

A command and/or sub-command that the ultrasonic sensor receives can, for example, be a command or sub-command that the ultrasonic sensor carries out a measurement in the ultrasonic measurement phase in the manner in which the ultrasonic sensor did it in a previous measurement in a previous ultrasonic measurement phase carried out the previous ultrasonic measurement cycle.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be a command or subcommand that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase in accordance with a predetermined form known to the ultrasonic sensor. For example, the ultrasonic sensor can have a measurement method, typically more than one measurement method with predetermined parameters for the measurement in the ultrasonic measurement phase, which the ultrasonic sensor can use. Using the above command, the ultrasonic sensor then preferably selects the measurement method known to it in accordance with the received command and then carries out this measurement method in a subsequent ultrasonic measurement phase.

A command and/or subcommand that the ultrasonic sensor receives can, for example, be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor is carrying out the measurement in the ultrasonic measurement phase immediately following this command phase in accordance with one of these predetermined and known to the ultrasonic sensor forms or methods should be carried out. Such methods and/or forms can, for example, include the type of ultrasonic burst or ultrasonic signal emitted (frequency, coded vs. uncoded, type of coding, chirp, chirp direction, maximum frequency, minimum frequency, center frequency amplitude, etc.) and/or the type of Measurement data preparation (storage, filtering, processing through pattern recognition, processing through AI programs, etc.) and/or the temporary storage of intermediate results and/or the measurements in a sequence of ultrasonic measurement cycles and/or the omission of phases within ultrasonic measurement cycles of a sequence of ultrasonic measurement cycles A command and/or subcommand that the ultrasonic sensor receives can, for example, be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a chirp corresponding to a should show the previously carried out chirp direction in a previously carried out ultrasonic measurement cycle. This means that it is no longer necessary to retransmit the parameters of the ultrasound burst or the ultrasound signal. A command and/or subcommand that the ultrasonic sensor receives can therefore also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that has a Chirp should show in accordance with the last chirp direction carried out immediately before in the ultrasonic measurement cycle carried out immediately before.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a chirp should point opposite to a previously carried out chirp direction in a previously carried out ultrasonic measurement cycle. An equivalent requirement in the sense of this document would be a command and/or a subcommand that the ultrasonic sensor receives, which can be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor is carrying out the measurements in subsequent ultrasonic measurement phases in succession Ultrasonic measurement cycles should be carried out with a respective ultrasonic burst, which should show a chirp opposite to the chirp direction carried out immediately before in the ultrasonic measurement cycle carried out immediately before. This means that the chirp direction then alternates from ultrasonic measurement cycle to ultrasonic measurement cycle. A command and/or subcommand that the ultrasonic sensor receives can therefore also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that has a Chirp should show opposite to the last chirp direction carried out immediately before in the ultrasonic measurement cycle carried out immediately before.

A command and/or subcommand that the ultrasonic sensor receives can also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that should show a chirp-down.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that has a Chirp down should show.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a chirp -Up should show.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that has a Chirp-Up should show.

A command and/or subcommand that the ultrasonic sensor receives can also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a predetermined Frequency should show.

A command and/or sub-command that the ultrasonic sensor receives can, for example, also be a command or sub-command that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that is a should show predetermined frequency.

A command and/or subcommand that the ultrasonic sensor receives can also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a predetermined or transmitted start frequency should show.

A command and/or sub-command that the ultrasonic sensor receives can, for example, also be a command or sub-command that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that is a should show predetermined or transmitted starting frequency.

A command and/or subcommand that the ultrasonic sensor receives can also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a predetermined or transmitted final frequency.

A command and/or sub-command that the ultrasonic sensor receives can, for example, also be a command or sub-command that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that is a should show predetermined or transmitted end frequency.

A command and/or subcommand that the ultrasonic sensor receives can also be, for example, a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in a subsequent ultrasonic measurement phase with an ultrasonic burst that has a predetermined Number of ultrasound pulses should have.

A command and/or sub-command that the ultrasonic sensor receives can, for example, also be a command or sub-command that signals to the ultrasonic sensor that the ultrasonic sensor should carry out the measurement in the immediately following ultrasonic measurement phase with an ultrasonic burst that is a should have a predetermined number of ultrasound pulses.

With some of the above commands, the higher-level computer system can control the emitted ultrasound bursts or ultrasound signals and other parameters.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor Measurement should be carried out in one or more subsequent ultrasound measurement phases with several successive ultrasound bursts, each of which should have a predetermined number of ultrasound pulses.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that in n subsequent ultrasonic measurement cycles of the ultrasonic sensor the ultrasonic sensor should skip the command phase, where n is a whole positive number is greater than or equal to 0. This can be helpful, for example, if the ultrasonic sensor is to carry out several ultrasonic measurement cycles one after the other, each with different ultrasonic bursts in the ultrasonic measurement phase, whereby, for example, these ultrasonic bursts can differ in the number of their ultrasonic pulses and/or in their duration.

A command and/or sub-command that the ultrasonic sensor receives can, for example, also be a command or sub-command that signals to the ultrasonic sensor that one or more of the above sub-commands includes content and/or their effect. This means that the document presented here also considers sequences of different and/or the same commands in a single command phase as one command. It is also conceivable to use one data word for several commands, where, for example, individual bits can already represent a command. In this case, it can make sense if the different bits of the data word of a command represent different commands depending on their logical value.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should not carry out the ultrasonic measurement phase, but that the ultrasonic sensor should skip the ultrasonic measurement phase . This command can be useful, for example, if the higher-level computer system does not want to carry out a measurement, but only wants to retrieve internal status and/or measurement data or other information from inside the ultrasonic sensor.

A command and/or subcommand that the ultrasonic sensor receives can, for example, also be a command or subcommand that signals to the ultrasonic sensor that the ultrasonic sensor should not carry out the third phase of the ultrasonic measurement cycle. This can be useful, for example, if the ultrasonic sensor combines the measurement data from several ultrasonic measurement cycles into new data, which the higher-level computer system then retrieves from the ultrasonic sensor.

A command and/or sub-command that the ultrasonic sensor receives can also be, for example, a command or sub-command that signals to the ultrasonic sensor that the ultrasonic sensor has the UART communication for a predetermined period of time and/or until the occurrence of a Switch-back signal in data communication to a communication protocol for communication between an ultrasonic sensor and the higher-level computer system from the prior art and, if necessary, to interrupt the UART communication in accordance with the UART protocol for this period or until a switch-back signal occurs.

This makes it possible to use other communication protocols in the meantime, which may be more suitable for the current measurement task, at least temporarily.

The ultrasonic sensor preferably comprises a timer which resets the UART communication back to the UART communication presented here after the predetermined period of time in the data communication from the communication protocol for communication between an ultrasonic sensor and the higher-level computer system from the prior art and, if necessary. causes the UART data interface of the ultrasonic sensor to resume UART communication in accordance with the UART protocol after this period has expired.

The ultrasonic sensor preferably comprises a control device, in the form of a control logic, which restarts the UART communication when certain conditions are present, such as the end of the ultrasonic measurement cycle in the data communication from the communication protocol for communication between an ultrasonic sensor and the higher-level computer system from the prior art back to the UART communication presented here and, if necessary, causes the UART data interface of the ultrasonic sensor to resume UART communication in accordance with the UART protocol after this period has expired.

The ultrasonic sensor preferably sends out the ultrasonic burst or the ultrasonic signal at the beginning of the ultrasonic measurement phase in accordance with a previously received command and/or subcommand.

The ultrasonic sensor then preferably receives a reflected ultrasonic signal or a reflected ultrasonic burst as a received signal in the ultrasonic measurement phase.

Typically, the ultrasonic sensor generates an envelope signal from the received signal in the ultrasonic measurement phase.

The ultrasonic sensor preferably detects and measures the envelope signal in the ultrasonic measurement phase after the ultrasonic burst or ultrasonic signal has been emitted and typically determines a measured value sequence in this way. The ultrasonic sensor and/or the higher-level computer system preferably evaluates this sequence of measured values.

For example, the ultrasonic sensor can be set up using special device parts to determine from the measured value sequence one or more symbols for one or more recognized signal objects, each with associated signal object parameters in the envelope signal. This allows a very compact transmission of data from the ultrasonic sensor to the higher-level computer system.

For example, the ultrasonic sensor can be set up to transmit such symbols for recognized signal objects and/or the parameters of these signal objects to the higher-level computer system in the third phase of the ultrasonic measurement cycle.

In a further variant of the proposal presented here, the ultrasonic sensor sends out said ultrasonic burst or said ultrasonic signal at the beginning of the ultrasonic measurement phase in accordance with a previously received command.

Typically, the ultrasonic sensor receives a reflected ultrasonic signal or a reflected ultrasonic burst as a received signal in the ultrasonic measurement phase.

The ultrasonic sensor preferably forms an envelope signal from the received signal of the ultrasonic transducer of the ultrasonic sensor in the ultrasonic measurement phase.

The ultrasonic sensor preferably measures the envelope signal in the ultrasonic measurement phase after the emission of the ultrasonic burst or ultrasonic signal and determines measured values of the envelope signal in the ultrasonic measurement phase or a corresponding sequence of measured values.

The ultrasonic sensor preferably signals to the higher-level computer system the arrival of an echo at the ultrasonic sensor to the higher-level computer system in the ultrasonic measurement phase when the value curve of the envelope signal of the ultrasonic sensor crosses the instantaneous value of a threshold curve of the ultrasonic sensor in a first direction. This means that the ultrasonic sensor prefers the arrival of an echo from the ultrasonic sensor to the higher-level computer system in the ultrasonic measurement phase with the next rising and/or falling edge of the UART clock and/or the signal processing clock and/or the transmission clock and/or the system clock , when the value curve of the envelope signal of the ultrasonic sensor crosses or has crossed the instantaneous value of a threshold curve of the ultrasonic sensor in a first direction between the preceding rising and / or falling edge and this rising and / or falling edge.

The ultrasonic sensor preferably signals to the higher-level computer system the end of the arrival of an echo at the ultrasonic sensor in the ultrasonic measurement phase with the next rising and/or falling edge of the UART clock and/or the signal processing clock and/or the transmission clock and/or the system clock , when the value curve of the envelope signal crosses the instantaneous value of a threshold curve in a second direction opposite to the first direction.

Preferably, the ultrasonic sensor signals to the higher-level computer system the arrival of echoes at the ultrasonic sensor to the higher-level computer system in the ultrasonic measurement phase synchronously with a system clock of the ultrasonic sensor and / or synchronously with a UART system clock of the UART data interface.

The ultrasonic sensor preferably signals diagnostic data to the higher-level computer system, such as hardware errors in your microelectronic circuit or other device parts of the ultrasonic sensor and other diagnostic errors of the ultrasonic sensor to the higher-level computer system in the third phase of the ultrasonic measurement cycle.

The ultrasonic sensor preferably signals determined values of up to four echoes (echo height, temporal echo position) to the higher-level computer system as data in the third phase of the ultrasonic measurement cycle from the ultrasonic sensor to the higher-level computer system.

As described, the additional synchronization command enables the local clock, the system clock or the UART clock to be synchronized with each other.

Using the switch command, the higher-level computer system can switch the protocol appropriately, which can be advantageous in certain usage situations. For example, the UART transmission requires a transmission according to the sequence data bit -> data bit -> data bit -> data bit - >.... Data protocols with the sequence 0->Date->1->0->Date->1 are known from the prior art. For example, it is conceivable that the higher-level computer system can switch the ultrasonic sensor back and forth between these data protocol modes by command in the command phase. However, in the course of developing the proposal presented here, it became clear that the possibility of such a switch is generally not advantageous.

The function of the edges generated in each bit of the method from the prior art is that the ultrasonic sensor can easily use these edges to detect the phase position and the frequency of the signal of the command data that the higher-level computer system transmits to the ultrasonic sensor in the command phase and then can track the frequency and phase position of the UART clock of the UART data interface of the ultrasonic sensor. The signal of the command phase then basically includes its carrier frequency.

Since the higher-level computer system synchronizes the UART clock by means of a command in a command phase of an ultrasonic measurement cycle and since the ultrasonic clock should have sufficient stability of the frequency and phase position of the UART clock of the UART data interface of the ultrasonic sensor, the respective ultrasonic sensor system 400, 800 can rely on this Avoid permanent transmission of edges.

The consequence is an increased data rate, as the rigidly fixed 0-bits and 1-bits become unnecessary. The ultrasonic sensor can therefore transmit more information to the higher-level computer system with the same length of an ultrasonic measurement cycle.

If the length of the command phase remains the same, the higher-level computer system can transmit more commands to the ultrasonic sensor in the command phase. This also increases the number of possible contents of the commands transmitted in the command phase. The higher-level computer system can signal more different operating modes to the ultrasonic sensor.

In UART mode, the data packets that the higher-level computer system sends to the ultrasonic sensor in the command phase preferably include a start bit, the data and a stop bit and, if necessary, a parity bit.

The higher-level computer system can preferably switch the ultrasonic sensor back and forth between a UART mode, which corresponds to the transmission method set out here, and a state-of-the-art mode using commands in the command phase via the connections of the UART data interface, whereby the State-of-the-art mode of a data interface corresponds to that known from the prior art.

The technical teaching disclosed here in this document describes a UART data line, in the signal path of which the ultrasonic sensor temporarily inserts the transmission of echo signals, with UART data transmission not taking place during this phase.

Advantage

At least in some implementations, such an ultrasonic sensor enables the efficient transmission of recorded data in a short time. But the advantages are not limited to this.

It is an extension of the UART communication common in the prior art in order to improve the efficiency of communication between an ultrasonic sensor and the higher-level computer system without increasing the system costs. The UART mode presented in this document enables a data transfer speed between the ultrasonic sensor and the higher-level computer system that is increased by a factor of 2-3 compared to the data transfer rate from the prior art at the same communication speed.

List of characters

• 1 shows the different phases of an ultrasonic measurement cycle 110 of an ultrasonic sensor 405 and the communication of the ultrasonic sensor 405 and the higher-level computer system 505 via the common UART data interface during this ultrasonic measurement cycle 110.
• 2 shows similar content as 1 , whereby the ultrasound transducer driver signal 600 is now shown.
• 3 proposes a new coding that modulates the pulse length, for example depending on the echo amplitude of the respective echo.
• 4 shows schematically a proposed simplified ultrasound system 400 with the ultrasound sensor 405.
• 5 largely corresponds to that 4 with the difference that the data bus 500 is not designed as a single-wire data bus, but as a two-wire data bus.
• 6 shows an ultrasound system 800 with several ultrasound sensors (405, 801 to 803).
• 7 equals to 6 , where in the example the 7 all of these ultrasonic sensors (405, 801 to 803) communicate with the higher-level computer system 505 via a modified UART data interface 560 via a common data bus 500 by means of a star-shaped data connection in the manner described above.

Description of the characters

Figure 1

1 shows the different phases of an ultrasonic measurement cycle 110 of an ultrasonic sensor 405 and the communication of the ultrasonic sensor 405 and the higher-level computer system 505 via the common UART data interface during this ultrasonic measurement cycle 110.

Communication via a separate transmit and receive line (545, 550)

The ultrasonic measurement cycle 110 shown here begins at a time t0 with the command phase 120. In the command phase 120, the higher-level computer system 505 transmits one or more commands 135 using a UART protocol via the UART data interfaces 560 of the higher-level computer system 505 and the UART data interface 430 of the ultrasonic sensor 405 to the ultrasonic sensor 405. With regard to the exemplary, possible commands 135, the description of this figure refers to the above description of such exemplary commands.

The length of the command phase 120 typically depends on the commands sent. Therefore, the UART data interface 430 of the ultrasonic sensor 405 also observes the content of the commands 135 and predicts the likely end of the command phase 120. The commands 135 preferably include a flag or a symbol with a comparable function at their end, which indicates whether there is at least one more further command follows. It is of course conceivable that a command can indicate how many commands still follow and/or how many command bits still follow and/or how many command bytes still follow and/or how many command data words still follow. In addition to this time control, it is also conceivable that the higher-level computer system 505 ends the command phase 120 by means of a special command 135 in the command phase 120 and thus starts the ultrasound measurement phase 125. This start of the ultrasound measurement phase 125 can be delayed from such a command 136 to end the command phase 120. A command 135 may include one or more command bits and/or may include one or more command bytes and/or may include one or more command data words and/or may include multiple commands and/or subcommands. As soon as the commands 135 have been completely received, the command phase 120 preferably ends. If the selected protocol provides for it, the time length of the command phase 120 can also be specified in a time unit - for example seconds - or in command bits or the like. In case of doubt, one bit can be accepted for each UART clock of the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405.

With the start of the ultrasonic measurement phase 125, the UART data interface 430 of the ultrasonic sensor 405 changes from UART mode 190 to signal mode 195. In UART mode 190, the UART data interface 430 of the ultrasonic sensor 405 communicates with the UART using the UART protocol. Data interface 560 of the higher-level computer system 505. The ultrasonic sensor 405 preferably starts a time counter 555 in a defined time connection with the start 185 of the ultrasonic measurement phase 125.

In the example of the 1 If the higher-level computer system 505 does not send any data to the receive input RX of the UART data interface 430 of the ultrasonic sensor 405 by means of its transmit output TX of its UART data interface 560, the reception connection RX of the UART data interface 430 of the ultrasonic sensor 405 is at a logical 1. Preferably begins a data transmission from the UART data interface 560 of the higher-level computer system 505 to the UART data interface 430 of the ultrasonic sensor 405 with a start bit. For this purpose, the transmission output TX of the UART data interface 560 of the higher-level computer system 505 pulls the reception line 545 between the transmission output TX of the UART data interface 560 of the higher-level computer system 505 and the reception input RX of the UART data interface 430 of the ultrasonic sensor 405 to the logical level 0 for the duration a data bit of the UART clock of the UART clock of the UART data interface 560 of the higher-level computer system 505. This is typically followed immediately by the transmission of eight data bits synchronously with the said UART clock. Immediately afterwards, the UART data interface 560 of the higher-level computer system 505 transmits a parity bit for the transmitted data th data to the UART data interface 430 of the ultrasonic sensor 405. The ultrasonic sensor 405 calculates a second parity bit based on the received data and compares this second parity bit with the parity bit received from the higher-level computer system 505. If the two parity bits are not in the expected relationship (equality or inversion), the ultrasonic sensor 405 concludes that there is an error. Typically, the higher-level computer system 505 also transmits a stop bit, which is typically a logical 1.

In the command phase 120, the higher-level computer system 505 can also transmit more than one piece of data to the ultrasonic sensor 405.

With the end of the command phase 120 and the beginning of the ultrasonic measurement phase 125, the transmission output TX of the UART data interface 430 of the ultrasonic sensor 405 no longer works as a UART transmission output TX for the duration of the ultrasonic measurement phase 125, as proposed. With the end of the command phase 120 and the beginning of the ultrasonic measurement phase 125, the receive input RX of the UART data interface 560 of the higher-level computer system 505 no longer works as a UART receive input RX for the duration of the ultrasonic measurement phase 125.

It is advantageous if, with the end of the command phase 120 and the beginning of the ultrasonic measurement phase 125, the receive input RX of the UART data interface 430 of the ultrasonic sensor 405 continues to work as a UART receive input, as proposed, for the duration of the ultrasonic measurement phase 125. It is also advantageous if, with the end of the command phase 120 and the beginning of the ultrasound measurement phase 125, the transmission output TX of the UART data interface 560 of the higher-level computer system 505 continues to work as a UART transmission output for the duration of the ultrasound measurement phase 125, as proposed. This allows the higher-level computer system 505 to continue sending commands to the ultrasonic sensor 405.

In the ultrasonic measurement phase 126, the UART data interface 430 of the ultrasonic sensor 405 preferably gives signals 185 via the transmit output TX of the UART data interface 430 of the ultrasonic sensor with the system clock of the ultrasonic sensor 405 and/or with the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405 405, which typically signal the start t1 of the ultrasound measurement phase 125 to the receive input RX of the UART data interface 560 of the higher-level computer system 505. Preferably, in the ultrasonic measurement phase 126, the UART data interface 430 of the ultrasonic sensor 405 transmits signals (140, 1421, 142, 143, 144) with the system clock of the ultrasonic sensor 405 and/or with the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405 the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405, which typically signal the arrival of echoes in the form of reflected ultrasonic bursts 520 and/or reflected ultrasonic signals 520 to the receive input RX of the higher-level computer system 505. For this purpose, the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 is used as a “start signal” 185 at the beginning of the ultrasonic measurement phase 125 for the duration of one or a few periods of the system clock of the ultrasonic sensor or for the duration of one or a few periods of the UART clock 540 of the UART -Data interface 430 sets the logical level of the line 550 between the transmit output TX of the UART data interface 430 of the ultrasonic transmitter 405 and the receive input RX of the UART data interface 560 of the higher-level computer system 505 to a logical “0”. As a result, the ultrasound transmitter 405 signals to the higher-level computer system 505 that the ultrasound measurement phase 125 has begun.

Typically, the ultrasonic sensor 405 begins to emit an ultrasonic burst or an ultrasonic signal 510 into the free space in front of the ultrasonic sensor 405 at the same time or in a fixed time relationship to this signaling 185. Objects 515 in the vicinity of the ultrasonic sensor 405 reflect this ultrasonic burst or the emitted ultrasonic signal 510.

It is also conceivable that the ultrasonic sensor 405 does not emit an ultrasonic burst or an ultrasonic signal 510 because another ultrasonic sensor 801 of an ultrasonic sensor system 800, of which the higher-level computer system 505 and the ultrasonic sensor 405 are part, emit this ultrasonic burst or the ultrasonic signal 510. The higher-level computer system 505 preferably starts the ultrasonic measurement phase 125 by means of a simultaneous command 135 to all ultrasonic sensors (405, 801 to 803) of its ultrasonic measurement system 800 at the same time for all ultrasonic sensors (405, 801 to 803) participating in the measurement, preferably only one Ultrasonic sensor 801 of the ultrasonic sensors (405, 801 to 803) of the ultrasonic measuring system 800 emits an ultrasonic burst or an ultrasonic signal 510. For simplicity, we assume that all ultrasonic sensors (405, 801 to 803) of its ultrasonic measuring system 800 essentially correspond to the ultrasonic system 405 in terms of construction without restricting the disclosure to this.

The ultrasound measurement phase 125 is typically divided into a transmission phase, a decay phase (together 610) and a reception phase - also called measurement phase 615.

In the emission phase, the emitting ultrasonic sensor 801 sends the ultrasonic burst or the ultrasonic signal 520 into the free space in the vicinity of the emitting ultrasonic sensor 801. For the emitting ultrasonic sensor 801, the decay phase then follows in which the mechanical oscillating element of the emitting ultrasonic sensor 801 swings out and in which the emitting one Ultrasonic sensor 801 typically brakes the oscillating element of the emitting ultrasonic sensor 801. Only then does the reception phase 615 follow until the end of the ultrasonic measurement phase 125, in which the ultrasonic sensor 405 receives the reflections of the ultrasonic burst or the ultrasonic signal 510 as echoes in a reflected ultrasonic signal 520.

In the ultrasonic measurement phase 125, the non-emitting ultrasonic sensors (405, 802, 803) typically do not go through a transmission phase or a decay phase (together 610), but only a reception phase 125.

The emitting ultrasonic sensor 801 preferably ignores the received signal 470 as long as its oscillating element has not yet oscillated and it is in the transmission phase or decay phase (together 610).

The ultrasonic sensors (405, 801 to 803) of the ultrasonic system 800 form the respective received signals 470 of their ultrasonic receivers or ultrasonic transducers e465 into a respective envelope signal 105, which typically reflects the time course of the amplitude of the received ultrasonic signal 520. An I/Q splitting of the respective received signal 470 is conceivable and typically useful in the reception path of each ultrasonic sensor 405.

In the reception phase 615 of the ultrasound measurement phase 125, the ultrasonic sensors (405, 801 to 803) of the ultrasonic system 800 preferably compare the amplitude of their respective envelope signal 105 with the instantaneous value of a predetermined and/or calculated and/or set respective threshold value curve 115 of the respective ultrasonic sensor of the ultrasonic sensors (405 , 801 to 803) of the ultrasound system 800.

If the instantaneous value of the respective envelope signal 105 exceeds the current value of the respective threshold curve 115, the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 pulls with the next edge and/or the next rising edge and/or the next falling edge of the system clock or the UART clock 540 the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 to a logical “0”. If the instantaneous value of the envelope signal 105 falls below the current value of the threshold curve 115, the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 increases with the next edge and/or the next rising edge and/or the next falling edge of the system clock or of the UART clock, the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 to a logical “1”.

Instead of this signaling controlled by threshold curves 115, signaling of maxima in the envelope signal 105 is also conceivable. For this purpose, the ultrasonic sensor 405 preferably filters its envelope signal 105 by means of the analog part 475 of the ultrasonic reception path of the ultrasonic sensor 405 and/or by means of the digital part 485 of the ultrasonic reception path of the ultrasonic sensor 405, preferably in order to remove noise and other artifacts. If the ultrasonic sensor 405 now detects a maximum in the time course of its envelope signal 105, the transmit output TX of the UART data interface 430 of the ultrasonic sensor 405 moves with the next edge and/or the next rising edge and/or the next falling edge of the system clock or the UART clock 540 the transmission output TX of the UART data interface 430 of the ultrasonic sensor 405 to a logical “0” for a predefined and/or set and/or programmed time. The predefined time can, for example, be the time duration of a system clock of the ultrasonic sensor 405 and/or the time duration of a UART clock 540 and/or the time duration of a predetermined number of system clocks of the ultrasonic sensor 405 and/or the time duration of a predetermined number of UART -Clocking the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405. The document presented here also refers to this predefined time as the signaling duration.

1 shows the detection and signaling of a first echo 140 using the example of a maximum detection of a maximum in the value curve of the envelope signal 105 of the ultrasonic sensor 405. The ultrasonic sensor 405 preferably stores a first counter reading of the time counter 555 of the ultrasonic sensor 405 as the first echo time stamp of the first echo 140. The ultrasonic sensor 405 preferably stores a first envelope amplitude value of the envelope amplitude 105 as the first echo amplitude of the first echo 140.

1 shows the detection and signaling of a second echo 141 using the example of a maximum detection of a maximum in the value curve of the envelope signal 105 of the ultrasonic sensor 405. The ultrasonic sensor 405 preferably stores a second count of the time counter 555 of the ultrasonic sensor 405 as a second echo time stamp of the second echo 141. The ultrasonic sensor 405 preferably stores a second envelope amplitude value of the envelope amplitude 105 as the second echo amplitude of the second echo 141.

1 shows the detection and signaling of a third echo as an “Echo3 signal” using the example of a maximum detection of a maximum in the value curve of the envelope signal 105 of the ultrasonic sensor 405. The ultrasonic sensor 405 preferably stores a third count of the time counter 555 of the ultrasonic sensor 405 as the third echo time stamp of the third Echoes 142 from. The ultrasonic sensor 405 preferably stores a third envelope amplitude value of the envelope amplitude 105 as the third echo amplitude of the third echo 142.

1 shows the detection and signaling of a fourth echo as an “Echo4 signal” using the example of a maximum detection of a maximum in the value curve of the envelope signal 105 of the ultrasonic sensor 405. The ultrasonic sensor 405 preferably stores a fourth count of the time counter 555 of the ultrasonic sensor 405 as the fourth echo time stamp of the fourth Echoes 143 from. The ultrasonic sensor 405 preferably stores a fourth envelope amplitude value of the envelope amplitude 105 as the fourth echo amplitude of the fourth echo 143.

1 shows the detection and signaling of a fifth echo 144 using the example of a maximum detection of a maximum in the value curve of the envelope signal 105 of the ultrasonic sensor 405. If sensible, the ultrasonic sensor 405 stores a fifth count of the time counter 555 of the ultrasonic sensor as the fifth echo time stamp of the fifth echo 144. If useful, the ultrasonic sensor 405 temporarily stores a fifth envelope amplitude value of the envelope amplitude 105 as the fifth echo amplitude of the fifth echo 144.

It has been shown that for many applications, storing the measured values of the first four echoes (140 to 143) is sufficient.

The duration of the ultrasound measurement phase 125 is preferably determined constructively or by setting or by programming or by means of a command 135 of the command phase 120.

The ultrasonic sensor 405 can also reach the end of the ultrasonic measurement phase 125 when it has no longer detected an echo for a predetermined and/or set and/or programmed period of time. The ultrasonic sensor 405 can, among other things, use the time counter 555 and/or another time counter to determine this period of time.

The higher-level computer system 505 preferably uses suitable commands 135 in the command phase 120 to ensure that all ultrasonic sensors (405, 801 to 803) have left the ultrasonic measurement phase 125 before the start of the next, subsequent ultrasonic measurement cycle 110.

With the end of the ultrasonic measurement phase 125, the third phase 130 of the ultrasonic measurement cycle 110 preferably begins for the ultrasonic sensor 405. In the third phase 130 of the ultrasonic measurement cycle 110, the ultrasonic sensor 405 transmits data (150, 155 to 158, 160) via the transmission port TX of its UART data interface 430 ) such as evaluation results and/or measurement, control and/or diagnostic data to the reception input RX of the UART data interface 560 of the higher-level computer system 505. Preferably, the ultrasonic sensor 405 first sends status information 150 in the form of one or more status bits or status bytes.

The document presented here suggests that the ultrasonic sensor 405 then sends the measured values of the detected echoes (140, 141, 142, 143, 144) previously buffered in the ultrasonic measurement phase 125 via its UART data interface 430.

The document presented here suggests that the ultrasonic sensor 405 sends the measured values of the first four detected echoes (140, 141, 142, 143) previously buffered in the ultrasonic measurement phase 125 via its UART data interface 430 after the end of the ultrasonic measurement phase 125, since within the framework During the development of the technical teaching presented here, it was recognized that the evaluation of these first four echoes (140, 141, 142, 143) is generally sufficient for most applications.

For this purpose, the ultrasonic sensor 405 can next transmit the number of detected echoes (140 to 144) to the higher-level computer system 505, which enables the higher-level computer system 505 to recognize how many echo data follow in this third phase 130 of the ultrasonic measurement cycle 110.

As described above, the ultrasonic sensor 405 typically starts transmission of the start signal 185 from the ultrasonic sensor 405 to the higher-level computer system 505, the said time counter 555 of the ultrasonic sensor 405, which counts, for example, the system clock of the ultrasonic sensor 405 or a clock derived from it. The ultrasonic sensor therefore has a unique time stamp available to it for every event that has occurred in the ultrasonic measurement phase 125, which the ultrasonic sensor 405 preferably combines with the parameters of the event, which can typically also include the type of event, for transmission to the higher-level computer system 505 in the third phase 130 of the ultrasonic measurement cycle 110 can be temporarily stored. A transmission of such time stamps is not necessary if the higher-level computer system in the ultrasound measurement phase records the time between the start signal 185 of the ultrasound measurement phase or the start signal 625 of the actual measurement phase and the occurrence of the signaling pulse of an echo (140 to 144), i.e. generates its own time stamp . Through the start signal 185 and the immediate signaling of an echo (140 to 144), the higher-level computer system 505 can not only generate its own time stamp for each signaling of an echo (140 to 144), but also analyze the early echoes that occur early on process even though the ultrasonic measurement phase 125 has not yet ended. This is particularly important in safety-relevant applications, since echoes 140 arriving early after the start 185 correspond to very close objects 515, which are therefore generally more dangerous and may require a quick reaction.

In the third phase 130 of the ultrasonic measurement cycle 110, the ultrasonic sensor 405 preferably transmits the measured values of the echo 140 that occurred first in time via the transmit port TX of its UART data interface 430 to the receive port RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the first echo 140 can, for example, be the time (=counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined that the threshold curve 115 has been exceeded for the first time by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the Ultrasonic sensor 405), for which the ultrasonic sensor 405 has determined a first occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

Preferably, the ultrasonic sensor 405 then transmits the measured values of the echo 141 that occurred second in time via the transmitter connection TX of its UART data interface 430 to the receive connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the second echo 141 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a second exceeding of the threshold curve 115 by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405). in which the ultrasonic sensor 405 has determined a second occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

The ultrasonic sensor 405 preferably then transmits the measured values of the echo 142 that occurred third in time via the transmission connection TX of its UART data interface 430 to the reception connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the third echo 142 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined that the threshold curve 115 has been exceeded for a third time by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405). in which the ultrasonic sensor 405 has determined a third occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

The ultrasonic sensor 405 preferably then transmits the measured values of the echo 143, which occurred fourth in time, via the transmitting connection TX of its UART data interface 430 to the receiving connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the fourth echo 143 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a fourth exceeding of the threshold curve 115 by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a fourth occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

The ultrasonic sensor can continue this transmission in an analogous manner for any number of echoes, but it has been shown that the transmission of further echoes generally no longer brings any significant information gain and only leads to an extension of the time duration of the ultrasonic measurement cycle 125 and the time duration the third phase 130 of the ultrasonic measurement cycle 110, which in turn lowers the frequency of the successive ultrasonic measurements in the form of successive ultrasonic measurement cycles 110 of the ultrasonic sensor 405. This in turn is detrimental to the safety of the vehicle and its occupants when too many echoes are transmitted.

Preferably, a transmission of one or more test information 160, for example in the form of a check sum, for example in the form of one or more CRC bytes, closes the data transmission from the ultrasonic sensor 405 via the transmit port TX of the UART data interface 430 of the ultrasonic sensor 405 to the receive port RX UART data interface 560 of the higher-level computer system 505 and thus the third phase 130 of the ultrasonic measurement cycle 110.

With the completion of the transmission of the last data, i.e. the last bit, the third phase 130 of the ultrasonic measurement cycle 110 ends at the earliest. One way to ensure that the higher-level computer system 505 recognizes the end of the third phase 130 of the ultrasonic measurement cycle 110 can be that Ultrasonic sensor 405 firstly at the beginning of the data transmission at the beginning of the third phase 130 of the ultrasonic measurement cycle 110 an information about the maximum time length of the third phase 130 of the ultrasonic measurement cycle s110 to the higher-level computer system 505 ends and / or secondly at the end of the data transmission in the third phase 130 of the ultrasonic measurement cycle 110 sends a data end code to the higher-level computer system 505, which enables the higher-level computer system 505 to recognize or calculate the end of the data transmission. The ultrasonic sensor 405 preferably sends such an end-of-data code before the test information 160, which enables the higher-level computer system 505 to check whether the data has been received correctly in the third phase 130 of the ultrasonic measurement cycle 110. The higher-level computer system 505 may therefore still have to take this time into account when calculating the end of the ultrasonic measurement cycle 110.

After the end of the third phase 130 of the ultrasonic measurement cycle 110, the UART data interface 560 of the higher-level computer system 505 preferably switches back to a state corresponding to the command phase 120 and/or an equivalent state.

Communication via a single data line

In addition to communication via two data lines (545, 550), communication via a single data line is also possible.

After switching on or resetting the ultrasonic sensor system 400, the UART data interface 430 of the ultrasonic sensor 405 is in the UART receiving state. The UART data interface 560 of the higher-level computer system 505 is then in the UART sending state. The UART data interface 430 of the ultrasonic sensor 405 is preferably designed so that a logical 0 of the UART data interface 560 of the higher-level computer system 505 can overwrite a logical 1 that the UART data interface 430 of the ultrasonic sensor 405 wants to place on the single-wire data bus 500. The UART data interface 560 of the higher-level computer system 505 is preferably designed so that a logical 0 of the UART data interface 430 of the ultrasonic sensor 405 can overwrite a logical 1 that the UART data interface 560 of the higher-level computer system 505 wants to place on the single-wire data bus 500.

The UART data interface 430 of the ultrasonic sensor 405 preferably observes the data on the single-wire data bus 500. If the UART data interface 430 of the ultrasonic sensor 405 wants to write a logical 1 to the single-wire data bus 500, the UART data interface 430 of the ultrasonic sensor 405 then sets a 0 on the single-wire data bus 500, the UART data interface 430 of the ultrasonic sensor 403 typically assumes a bus collision. The UART data interface 430 of the ultrasonic sensor 405 then preferably changes to the reception state of the UART data interface 430 of the ultrasonic sensor 405.

In the command phase, the UART data interface 560 of the higher-level computer system 505 is typically in the sending state of the UART data interface 560 of the higher-level computer system 505.

In the command phase, the UART data interface 430 of the ultrasonic sensor 405 is typically in the receiving state of the UART data interface 430 of the ultrasonic sensor 405.

In the ultrasound measurement phase 125, the UART data interface 560 of the higher-level computer system 505 is typically in the receiving state of the UART data interface 560 of the higher-level computer system 505.

In the ultrasonic measurement phase 125, the UART data interface 430 of the ultrasonic sensor 405 is typically in the sending state of the UART data interface 430 of the ultrasonic sensor 405.

In the third phase 130 of the ultrasonic measurement cycle 110, the UART data interface 560 of the higher-level computer system 505 is typically in the receiving state of the UART data interface 560 of the higher-level computer system 505.

In the third phase 130 of the ultrasonic measurement cycle 110, the UART data interface 430 of the ultrasonic sensor 405 is typically in the sending state of the UART data interface 430 of the ultrasonic sensor 405.

Therefore, the ultrasonic sensor system 400 must ensure that the UART data interface 560 of the higher-level computer system 505 changes from the transmitting state to the receiving state when changing from the command phase 120 to the ultrasonic measurement phase 125.

In addition, the ultrasonic sensor system 400 must ensure that the UART data interface 430 of the ultrasonic sensor 405 changes from the receiving state to the transmitting state when changing from the command phase 120 to the ultrasonic measurement phase 125.

Furthermore, the ultrasonic sensor system 400 must ensure that the UART data interface 560 of the higher-level computer system 505 changes back from the receiving state to the transmitting state when changing from the third phase 130 of the ultrasonic measurement cycle 110 to the command phase 120.

In addition, the ultrasonic sensor system 400 must ensure that the UART data interface 430 of the ultrasonic sensor 405 changes from the transmit state to the receive state when changing from the third phase 130 of the ultrasonic measurement cycle 110 to the command phase 120.

For this purpose, the document presented here suggests that the last command 136 of the higher-level computer system 505 to the ultrasonic sensor 405 at the end of the command phase 120 is a command to change to the ultrasonic measurement phase 125 for the ultrasonic sensor 405. After receiving this command 136, the ultrasonic sensor 405 changes to the ultrasonic measurement phase 125. There is preferably a waiting time between the receipt of the command 136 for the change of state and the start of the ultrasonic measurement phase 125 on the one hand and this change of state on the other hand, which can be predetermined, set or programmed. The time length can be 0s, but this is not preferred. A time counter 555 in the ultrasonic sensor 405 preferably controls this waiting time. In the ultrasonic measurement phase 125, the UART data interface 430 of the ultrasonic sensor 405 preferably gives signals 185 via the transmit output TX of the UART data interface 430 of the ultrasonic sensor with the system clock of the ultrasonic sensor 405 and/or with the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405 405 on the single-wire data bus 500, which typically signal the start 185 of the ultrasonic measurement phase 125 to the receive input TX of the UART data interface 560 of the higher-level computer system 505. Preferably, in the ultrasonic measurement phase 125, the UART data interface 430 of the ultrasonic sensor 405 signals (140 to 144) via the transmission output TX of the UART with the system clock of the ultrasonic sensor 405 and/or with the UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405. Data interface 430 of the ultrasonic sensor 405 to the single-wire data bus 500, which typically signal the arrival of echoes (140 to 144) in the form of reflected ultrasonic bursts and / or reflected ultrasonic signals 520 to the reception input TX of the UART data interface 560 of the higher-level computer system 505. For this purpose, the connection of the UART data interface 430 of the ultrasonic sensor 405 pulls the single-wire data bus 500 as a “start signal” 185 at the beginning of the ultrasonic measurement phase 125 for the duration of one or a few periods of the system clock of the ultrasonic sensor 405 or for the duration of one or a few periods of the UART clock 540 of the UART data interface 430 sets the logical level of the single-wire data bus 500 between the connection of the UART data interface 430 of the ultrasound transmitter 405 and the corresponding connection of the UART data interface 560 of the higher-level computer system 505 to a logical “0”. As a result, the ultrasound transmitter 405 signals to the higher-level computer system 505 that the ultrasound measurement phase 125 has begun.

In the event that the UART data interface 430 of the ultrasonic sensor 405 detects a bus collision at any time after this signaling in the ultrasonic measurement phase 125, the document presented here suggests that the ultrasonic sensor 405 then leaves the ultrasonic measurement phase 125 and switches back to the command phase 120 . In such an error case, the state of the UART data interface 430 of the ultrasonic sensor v405 then changes back to the receiving state as suggested.

The higher-level computer system detects via its UART data interface 560 505 signals the start of the ultrasonic measurement phase 125 of the ultrasonic sensor 405 and, if necessary, starts a time counter of the higher-level computer system 505 in order to record the transit times of the reflections of the ultrasonic burst 510 emitted by the ultrasonic sensor 405 or of the ultrasonic signal 510 emitted by the ultrasonic sensor 405.

Typically, if there is no bus collision, the ultrasonic sensor 405 begins to emit an ultrasonic burst or an ultrasonic signal 510 into the free space in front of the ultrasonic sensor 405 at the same time or in a fixed time relationship to this start signaling 185 of the UART data interface 430 of the ultrasonic sensor 405. Objects 515 in the vicinity of the ultrasonic sensor 405 reflect this ultrasonic burst 510 or the emitted ultrasonic signal 510 as a reflected ultrasonic burst 520 or reflected ultrasonic signal 520.

It is also conceivable that the ultrasonic sensor 405 does not emit an ultrasonic burst or an ultrasonic signal 510 because another ultrasonic sensor of the ultrasonic sensors (405, 801 to 803) of an ultrasonic sensor system 800, of which the higher-level computer system 505 and the ultrasonic sensor 405 are part, emits this ultrasonic burst or .Emit the ultrasonic signal 510. The higher-level computer system 505 preferably starts the ultrasonic measurement phase 125 by means of a simultaneous command 136 to all ultrasonic sensors (405, 801 to 803) of its ultrasonic measurement system (800) at all ultrasonic sensors 405, 801 to 803) participating in the measurement one of the ultrasonic sensors 801 of the ultrasonic measuring system 800 emits an ultrasonic burst or an ultrasonic signal 510. For simplicity, the document presented here assumes that all ultrasonic sensors (405, 801 to 803) of the ultrasonic sensor system 800 are constructed in the same manner, without limiting the technical teaching disclosed herein to this.

The ultrasound measurement phase 125 is typically divided into a transmission phase, a decay phase (together 610) and a reception phase 615.

In the emission phase, the emitting ultrasonic sensor 405 sends the ultrasonic burst or the ultrasonic signal 510 into the free space in the vicinity of the emitting ultrasonic sensor 801. For the emitting ultrasonic sensor 801, the decay phase then follows in which the mechanical oscillating element oscillates and in which the emitting ultrasonic sensor 801 releases the oscillating element typically slows down. Only then does the receiving phase 615 follow for the emitting ultrasonic sensor 801 until the end of the ultrasonic measurement phase 125 in which the emitting ultrasonic sensor 801 receives the reflections of the ultrasonic burst or the ultrasonic signal 520 as echoes.

The non-emitting ultrasonic sensors (405, 802, 803) typically do not go through a transmission phase or a decay phase in the ultrasonic measurement phase 125, but only a reception phase 165.

The emitting ultrasonic sensor 801 preferably ignores the received signal 470 as long as its oscillating element has not yet oscillated and it is in the transmission phase or decay phase.

The ultrasonic sensors (405, 801 to 803) of the ultrasonic system 800 form a respective envelope signal 105 from the respective received signals 470 of their ultrasonic receivers or ultrasonic transducers 465, which typically reflects the time course of the respective amplitude of the respective received ultrasonic signal 520.

In the reception phase 615 of the ultrasound measurement phase 125, the ultrasonic sensors (405, 801 to 803) each compare the respective amplitude of their respective envelope signal 105 with the instantaneous value of a predetermined and/or calculated and/or set respective threshold value curve 115 of the respective ultrasonic sensor of the ultrasonic sensors (405, 801 up to 803).

If the instantaneous value of the envelope signal 105 exceeds the current value of the threshold curve 115, the connection of the UART data interface 430 of the ultrasonic sensor 405 to the single-wire data bus 500 pulls with the next edge and/or the next rising edge and/or the next falling edge of the system Clock or the UART clock 540 of the ultrasonic sensor 405 the connection of the UART data interface 430 to the single-wire data bus 500 and thus the single-wire data bus 500 to a logical "0". If the instantaneous value of the envelope signal 105 falls below the current value of the threshold curve 115, the output of the UART data interface 430 of the ultrasonic sensor 405 is sent to the single-wire data bus 500 with the next edge and/or the next rising edge and/or the next falling edge of the system Clock or the UART clock 540 the connection of the UART data interface 430 to the single-wire data bus 500 and thus the single-wire data bus 500 to a logical "1" if no other bus node sets the single-wire data bus 500 to a logical "0".

Instead of this signaling controlled by threshold value curves 115, signaling of maxima is also conceivable. For this purpose, the ultrasonic sensor 405 filters its envelope signal 105, preferably to remove noise and other artifacts. If the ultrasonic sensor 405 now detects a maximum in the time course of its envelope signal 105, the connection of the UART data interface 430 of the ultrasonic sensor 405 to the single-wire data bus 500 pulls the single-wire data bus 500 with the next edge and/or the next rising edge and/or the next falling edge of the system clock or the UART clock 540, the connection of the UART data interface 430 of the ultrasonic sensor 405 to the single-wire data bus 500 and thus the single-wire data bus 500 to a logical "0" for a predefined and/or set and/or programmed time. . The predefined time can, for example, be the time duration of a system clock of the ultrasonic sensor 405 and/or the time duration of a UART clock 540 of the UART data interface 430 of the ultrasonic sensor 405 and/or the time duration of a predetermined number of system clocks of the ultrasonic sensor 405 and/or a be the time duration of a predetermined number of UART clocks 540 of the UART data interface 430 of the ultrasonic sensor 405. The document presented here also refers to this predefined time as the signaling duration.

1 shows the detection and signaling of a first echo 140 using the example of maximum detection. The ultrasonic sensor 405 preferably stores a first count of the time counter 555 of the ultrasonic sensor 405 as the first echo time stamp of the first echo 140. The ultrasonic sensor 405 preferably stores a first envelope amplitude value of the envelope amplitude 101 as the first echo amplitude of the first echo 140.

1 shows the detection and signaling of a second echo 141 using the example of maximum detection. The ultrasonic sensor 405 preferably stores a second count of the time counter 555 of the ultrasonic sensor 405 as a second echo time stamp of the second echo 141. The ultrasonic sensor 405 preferably stores a second envelope amplitude value of the envelope amplitude 105 as the second echo amplitude of the second echo 141.

1 shows the detection and signaling of a third echo 142 using the example of maximum detection. The ultrasonic sensor 405 preferably stores a third count of the time counter 555 of the ultrasonic sensor 405 as a third echo time stamp of the third echo 142. The ultrasonic sensor 405 preferably stores a third envelope amplitude value of the envelope amplitude 105 as the third echo amplitude of the third echo 142.

1 shows the detection and signaling of a fourth echo as 143 using the example of maximum detection. The ultrasonic sensor 405 preferably stores a fourth count of the time counter 555 of the ultrasonic sensor as the fourth echo time stamp of the third echo 143. The ultrasonic sensor 405 preferably stores a fourth envelope amplitude value of the envelope amplitude 105 as the fourth echo amplitude of the fourth echo 143.

1 shows the detection and signaling of a fifth echo 144 using the example of maximum detection. If it makes sense, the ultrasonic sensor 405 stores a fifth count of the time counter 555 of the ultrasonic sensor as the fifth echo time stamp of the fifth echo 144. If useful, the ultrasonic sensor 405 temporarily stores a fifth envelope amplitude value of the envelope amplitude 105 as the fifth echo amplitude of the fifth echo 144.

It has been shown that for many applications, storing the measured values of the first four echoes (140 to 143) is sufficient.

The duration of the ultrasound measurement phase 125 is preferably determined constructively or by setting or by programming or by means of a command 135 of the higher-level computer system 505 from the command phase 120.

The ultrasonic sensor 405 can also conclude that the ultrasonic measurement phase 125 has ended when it has no longer detected an echo for a predetermined and/or set and/or programmed period of time.

The higher-level computer system 505 preferably uses suitable commands 136 in the command phase 120 to ensure that all ultrasonic sensors (405, 801 to 803) have left the ultrasonic measurement phase 125 before the start of the next ultrasonic measurement cycle 125.

In special cases, the UART data interface 560 of the higher-level computer system 505 is preferably able to place a logical “1” on the single-wire data bus 500, which overwrites a logical “0” of the UART data interface 430 of an ultrasonic sensor 405. The UART data interfaces 430 of the ultrasonic sensors 405 preferably check whether every logical “0” placed on the bus 500 also appears there as a logical “0”. The UART data interfaces 430 of the ultrasonic sensors 405 represent such a bus collision Because the UART data interface 430 of the ultrasonic sensor 405 detects a logical "1" on the single-wire data bus 500, although it has written a logical "0" and therefore expected it, the UART data interface 430 preferably assumes a bus collision. The document presented here suggests that the ultrasonic sensor 405 then switches back to the command phase 120 and the UART data interface 430 of the ultrasonic sensor 405 switches back to the receiving state. The UART data interface 560 of the higher-level computer system 505 or another sub-device of the ultrasonic sensor system 400, 800 (e.g. a pull-up bus resistor) places a logical "1" on the data bus 500 if they do not imprint a logical "0" on the single-wire data bus. on the single-wire data bus 500, which other bus participants can overwrite with a logical “0” if necessary. Only in the special cases mentioned, for example when the higher-level computer system 505 wants to reset the states of all bus participants and ultrasonic sensors (405, 801 to 803) on the single-wire data bus 500, is it proposed that the higher-level computer system 505 can then imprint a logical "1", which the other bus participants and ultrasound participants on the single-wire data bus 500 cannot overwrite with their UART data interfaces 430.

The method presented here enables fast communication and thus the use of additional information to secure data communication between the ultrasonic sensor 405 and the higher-level computer system 505. Additional bits to secure the communication speed are therefore available. Due to the time advantage of the UART mode 190, additional bits can be added without extending the communication time compared to prior art methods for communication between the ultrasonic sensor 405 and the higher-level computer system 505. In addition, the communication between the ultrasonic sensor 405 and the higher-level computer system 505 becomes more robust or the ultrasonic sensor 405 and the higher-level computer system 505 can detect errors during communication. The higher-level computer system 505 and the ultrasonic sensor can therefore handle and contain such errors better.

For the start command or the command 136 for configuring the ultrasonic sensor 405, an additional parity bit is available for security purposes.

One possibility for the exemplary design of an exemplary command 135 of the command phase 120 is to use a one-byte command, in which the 8 bits of the one-byte command 135 are converted into 3 bits for the command (e.g. start of a measurement or configuration of the ultrasonic sensor 405) and another 4 bits for the configuration of the command (e.g. which measurement profile) and a parity bit for security. The ultrasonic sensor 405 checks the parity bit of the received command 135 and only executes the command 135 if the parity corresponds to the parity bit expected according to the other received bits of the command 135.

The status and echo information (150, 155 to 158, 160), as well as other sensor configuration data, can be secured using CRC status data 160.

The method proposed here preferably uses an 8-bit CRC so that the CRC checksum is exactly as long as the individual 8-bit UART data packets of the UART data protocol.

With the end of the ultrasonic measurement phase 125, even when using a single-wire data bus 500, the third phase 130 of the ultrasonic measurement cycle 110 preferably begins again. In the third phase 130 of the ultrasonic measurement cycle 110, the UART data interface 560 of the higher-level computer system 555 is typically in the receiving state and the UART data interface 430 of the ultrasonic sensor 405 in the transmitting state. The UART data interface 560 of the higher-level computer system 505 and the UART data interface 430 of the ultrasonic sensor 405 typically exchange the data at least twice in the third phase 130 of the ultrasonic measurement cycle 110, preferably in accordance with the UART protocol.

In the third phase 130 of the ultrasonic measurement cycle 110, the ultrasonic sensor 405 transmits evaluation results and/or measurement, control and/or diagnostic data to the single-wire data bus connection of the UART data interface 560 of the higher-level computer system 505 via the single-wire data bus 500 via the single-wire data bus connection of its UART data interface 430 UART protocol. Preferably, the ultrasonic sensor 405 first sends status information 150 in the form of one or more status bits or status bytes via the single-wire data bus 500.

The document presented here suggests that the ultrasonic sensor 405 then sends the measured values of the detected echoes (140 to 144) previously buffered in the ultrasonic measurement phase 125 via its UART data interface 430. The document presented here also suggests that the ultrasonic sensor 405 then buffers the data previously in the ultrasonic measurement phase 125 via its UART data interface 430 The measured values of the first four echoes (140 to 143) detected in the ultrasonic measurement phase 125 are sent.

For this purpose, the ultrasonic sensor 405 can next transmit the number of detected echoes (140 to 144) to the higher-level computer system 505, which enables the higher-level computer system 505 to recognize how many echo data follow in the third phase 130 of the ultrasonic measurement cycle 110.

As described above, the ultrasonic sensor 405 typically starts the said time counter 555 of the ultrasonic sensor 405 with the transmission of the start signal 185 from the ultrasonic sensor 405 to the higher-level computer system 505, which counts, for example, the system clock of the ultrasonic sensor 405 or a clock derived therefrom. The ultrasonic sensor 405 is therefore provided with a unique time stamp for each event that has occurred in the ultrasonic measurement phase 125, which the ultrasonic sensor 405 preferably includes with the parameters of the event, which can typically also include the type of event, for transmission to the higher-level computer system 505 in the third phase 130 of the ultrasonic measurement cycle 125 can be temporarily stored.

The ultrasonic sensor 405 preferably transmits the measured values of the echo 140 that occurred first in time via the transmission connection TX of its UART data interface 430 to the reception connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the first echo 140 can, for example, be the time (= The counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 determined that the threshold curve 115 was exceeded for the first time by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a first occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

Preferably, the ultrasonic sensor 405 then transmits the measured values of the echo 141 that occurred second in time via the transmitter connection TX of its UART data interface 430 to the receive connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the second echo 141 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a second exceeding of the threshold curve 115 by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405). in which the ultrasonic sensor 405 has determined a second occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

The ultrasonic sensor 405 preferably then transmits the measured values of the echo 142 that occurred third in time via the transmission connection TX of its UART data interface 430 to the reception connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the third echo 142 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined that the threshold curve 115 has been exceeded for a third time by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405). in which the ultrasonic sensor 405 has determined a third occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

The ultrasonic sensor 405 preferably then transmits the measured values of the echo 143, which occurred fourth in time, via the transmitting connection TX of its UART data interface 430 to the receiving connection RX of the UART data interface 560 of the higher-level computer system 505. These measured values of the fourth echo 143 can, for example, be the time ( =counter reading of the time counter 555 of the ultrasonic sensor 405) at which the ultrasonic sensor 405 has determined a fourth exceedance of the threshold curve 115 by the envelope signal 105 in the ultrasonic measurement phase 125 and/or the time (=counter reading of the time counter 555 of the ultrasonic sensor 405). in which the ultrasonic sensor 405 has determined a fourth occurrence of a maximum of the envelope signal 105 above the threshold curve 115 in the ultrasonic measurement phase 125.

A transmission of such time stamps is not necessary if the higher-level computer system 505 in the ultrasonic measurement phase 125 records the time between the start signal 185 of the ultrasonic measurement phase 125 or the start signal 625 of the actual measurement phase 615 and the occurrence of the signaling pulse of an echo (140 to 144), i.e generates its own timestamp. Through the start signal 185 and the immediate signaling of an echo (140 to 144), the higher-level computer system 505 can not only generate its own time stamp for each signaling of an echo (140 to 144), but also analyze the early echoes that occur early on process, even though the ultrasonic measurement phase is 125 is not yet over. This is particularly important in safety-relevant applications, since echoes 140 arriving early after the start 185 correspond to very close objects 515, which are therefore generally more dangerous and may require a quick reaction.

The ultrasonic sensor 405 can continue this transmission in an analogous manner for any number of echoes. However, it has been shown that the transmission of further echoes generally no longer brings any significant information gain and only leads to an extension of the duration of the ultrasonic measurement cycle 125 and the time Duration of the third phase 130 of the ultrasonic measurement cycle 110 leads, which in turn lowers the frequency of the successive ultrasonic measurements in the form of successive ultrasonic measurement cycles 110 of the ultrasonic sensor 405. This in turn is detrimental to the safety of the vehicle and its occupants when too many echoes are transmitted.

Transmission of one or more test information 160, for example in the form of a check sum, for example in the form of one or more CRC bytes, the data transmission from the ultrasonic sensor 405 via the connection of the UART data interface 430 of the ultrasonic sensor 405 to the connection of the UART data interface 560 of the higher-level computer system 505.

With the completion of the transmission of the last data, i.e. the last bit, the third phase 130 of the ultrasonic measurement cycle 110 ends at the earliest. One way to ensure that the higher-level computer system 505 recognizes the end of the third phase 130 of the ultrasonic measurement cycle 110 can be that Ultrasonic sensor 405 firstly at the beginning of the data transmission at the beginning of the third phase 130 of the ultrasonic measurement cycle 110 an information about the maximum time length of the third phase 130 of the ultrasonic measurement cycle s110 to the higher-level computer system 505 ends and / or secondly at the end of the data transmission in the third phase 130 of the ultrasonic measurement cycle 110 sends a data end code to the higher-level computer system 505, which enables the higher-level computer system 505 to recognize or calculate the end of the data transmission. The ultrasonic sensor 405 preferably sends such an end-of-data code before the test information 160, which enables the higher-level computer system 505 to check whether the data has been received correctly in the third phase 130 of the ultrasonic measurement cycle 110. The higher-level computer system 505 may therefore still have to take this time into account when calculating the end of the ultrasonic measurement cycle 110.

After the end of the third phase 130 of the ultrasonic measurement cycle 110, the UART data interface 560 of the higher-level computer system 505 preferably switches back to a state corresponding to the command phase 120 and/or an equivalent state.

Figure 2

2 shows similar content as 1 , whereby the ultrasound transducer driver signal 600 is now shown. The ultrasonic controller 435 of the ultrasonic sensor 405 controls the ultrasonic transducer 465 or the ultrasonic transmitter of the ultrasonic sensor 405 in the transmission phase of the ultrasonic measurement phase 125 with the ultrasonic transducer driver signal 600 on the analog ultrasonic transmission signal 460 to control the ultrasonic transducer 465. The ultrasonic control 435 of the ultrasonic sensor 405 uses the ultrasonic transducer driver signal 600 to cause the oscillating element of the ultrasonic transducer 465 or the ultrasonic transmitter to oscillate and to emit an ultrasonic burst or an ultrasonic signal 510. The UART data interface 430 preferably controls the control device 410 of the ultrasonic transducer 465 and/or or allows the control device 410 of the ultrasonic sensor 405 to exchange data with the higher-level computer system 505 via the UART data interface 430 of the ultrasonic sensor 405.

The oscillating element of the ultrasonic transducer 465 or ultrasonic receiver of the ultrasonic sensor 405 then generates the in 2 Receiver signal 605 shown as an example. The receiver signal 605 depends on the echoes of the objects 515 in the environment of the ultrasonic sensor 405. An envelope filter of the ultrasonic sensor 405 filters the receiver signal 605 of the ultrasonic sensor 405 to the envelope signal 105 of the ultrasonic sensor 405. An evaluation device of the ultrasonic sensor 405 detects 115 echoes (140 to 144) in the envelope signal 105 of the ultrasonic sensor 405 depending on a threshold value curve and generates an echo signaling ( 140 to 144).

The evaluation device of the ultrasonic sensor 405 preferably ignores all echo-like signals in the envelope signal 105 of the ultrasonic sensor 405, which lie in a period corresponding to a “delay” 610 in the envelope signal 105 immediately after the start of the ultrasonic measurement phase 125. This means that the actual measurement phase 615, in which the ultrasonic sensor 405 signals received echoes (140 to 144) to the higher-level computer system 505 and stores measurement data of these echoes (140 to 144), is typically shorter in time than the ultrasonic measurement phase 125.

In the ultrasonic measurement phase, a first pulse 185, which signals the start of the ultrasonic measurement phase 125 to the higher-level computer system 505, and a second pulse 625, which signals the start of the actual measurement phase 615 to the higher-level computer 505, can occur. The higher-level computer system 505 can also use these two pulses 185 and 625 together to monitor the internal oscillator frequency of the system clock of the ultrasonic sensor 405, since the time interval between the two pulses (185, 625) is known and only corresponds to the oscillator frequency of the oscillator of the ultrasonic sensor 405 , which generates the system clock of the ultrasonic sensor 405, shifts. A large change in the time interval between these two pulses 185 and 625 can indicate a fault in the ultrasonic sensor 405. The higher-level computer system 505 therefore preferably records the time interval between the first pulse 185 and the second pulse 625 using its already mentioned time counter. If the value of this time interval is not within an expected value interval for the value of this time interval, the higher-level computer system 505 preferably concludes that there is an error in the ultrasonic sensor 405. The higher-level computer system 505 preferably reacts accordingly. Such a reaction can be, for example, switching off the ultrasonic sensor 405 or starting a self-diagnosis of the ultrasonic sensor 405 or similar measures. The ultrasonic sensor system 400, 800 can use a small time shift between these two pulses (185, 625) to resynchronize the data interface 430 of the ultrasonic sensor 405. For example, in the event of a deviation, the higher-level computer system 505 can force such a re-synchronization using a synchronization signal as a command in the command phase 135 if the detected deviation is too large.

An exemplary implementation idea of the technical teaching of the document presented here, for example, provides that the higher-level computer system 505 sends an exemplary 8-bit UART data packet from the higher-level computer system 505 (also referred to as bus master) to the ultrasonic sensor 405 to start the measurement, which sends the command 135 ( 3bit) to start the measurement and further information (4bit) about the measurement process. In addition, it is protected by a parity bit, see also the next point

After the ultrasonic measurement in the ultrasonic measurement phase 125, the ultrasonic sensor 405 is proposed to send several UART data packets (each 8 bits long) from the ultrasonic sensor 405 to the higher-level computer system 505 in the third phase 130 of the ultrasonic measurement cycle 110. The first exemplary packet can, for example, status information 150 about the ultrasonic sensor -Errors of the ultrasonic sensor 405 include, the next 4 packets (505 to 508) preferentially return the echo height (compressed to 8 bits) of the first 4 detected echoes (140 to 143). Everything is then secured by another CRC package 160. All packages should preferably be able to be switched on and off individually using commands 135 in the command phase 120 in order to keep the communication time as short as possible as required.

Figure 3

In the previous ultrasonic control circuits, a constantly long pulse (here, for example, 50us) always signals the maximum of an echo (140 to 144) in the ultrasonic measurement phase 125 on the data bus 500. The document presented here proposes a new coding that determines the pulse length, e.g. modulated depending on the echo amplitude of the respective echo. There are certainly other options for pulse length coding. When developing the proposal presented here, it was recognized that the distance between the echoes generally allows such pulse length modulation. This allows for a different information content. A different pulse length coding with several stages is conceivable, for example.

One idea presented here is to encode the height of the measured echoes using the length of the pulse and to signal it to the higher-level computer system 505

For example, a coding can look like this: echoes whose amplitudes exceed the current value of the threshold curve 115, but do not exceed twice the current value of the threshold curve 115, are coded with a pulse length of a first time length, for example 50 μs.

For example, coding can further look like echoes whose amplitudes exceed twice the current value of the threshold curve 115, but do not exceed three times the current value of the threshold curve 115, with a pulse length of twice the first time length, for example 100 μs, and so on.

In this way, the higher-level computer system 505 can quickly determine whether the respective echo was a significant echo or a weak echo. (Compare 3 “new coding” 705 vs. “previous coding” 700)

The ultrasonic sensor 405 preferably places the measurement profiles that the higher-level computer system 505 provides to the ultrasonic sensor 405 in the command phase 120 transmitted in the non-volatile memory 415 of the ultrasonic sensor 405. This makes it possible to reduce the complex data transfer of the configuration data of the respective measurement profile every time the ultrasonic sensor is switched on to a one-time transfer, for example at the end of the series production line.

Figure 4

4 schematically shows a proposed simplified ultrasonic system 400 with the ultrasonic sensor 405. The control device 410 is preferably a microcomputer, for example an ARM controller, which via the data bus 495 and possibly other control and signal lines that are not shown for better clarity Device parts of the ultrasonic sensor 405 controls and monitors their condition. The ultrasonic sensor particularly preferably includes a non-volatile memory 415, a volatile memory 420 and wide peripheral blocks 425 of the control device 410 of the ultrasonic sensor 405. Furthermore, the ultrasonic sensor 405 includes the modified UART data interface 430, which can carry out the method presented in this document. The control device 410 of the ultrasonic sensor 405 preferably controls the ultrasonic controller 435 of the ultrasonic sensor 405. The ultrasonic controller 435 generates digital control signals 440 of the ultrasonic controller 435 for controlling the digital part 445 of the ultrasonic transmission path. The digital part 445 of the ultrasonic transmission path of the ultrasonic sensor 405 generates the digital ultrasonic transmission signal 450 and the control signals 450 for the analog part 455 of the ultrasonic transmission path. The analog part 455 of the ultrasonic transmission path of the ultrasonic sensor 405 generates the analog ultrasonic transmission signal 460 for controlling the ultrasonic transducer 465. The ultrasonic transducer 465 converts the analog ultrasonic transmission signal 460 into the ultrasonic signal 510, which it emits into its surroundings. The object 515 in the ultrasonic transmission channel of the ultrasonic sensor 405 reflects the ultrasonic signal 510 as a reflected ultrasonic signal 520. The ultrasonic transducer 465 receives the reflected ultrasonic signal and converts it into an analog ultrasonic reception signal 470 of the ultrasonic transducer 465. The analog part 475 of the ultrasonic reception path of the ultrasonic sensor 405 generates the digital ultrasonic reception signal 480 of the ultrasonic transducer 465 from this. The digital part 485 of the ultrasonic reception path of the ultrasonic sensor 405 extracts reception, classification, status and test result data 490 from it and transfers these to the control device 410 via the ultrasonic control 435 the internal data and control bus 495 of the ultrasonic sensor 405 is available. The modified UART data communication discussed in this document takes place with the higher-level computer system 505 via the external data bus 500. In the example 4 The external data bus 500 is, for example, a single-wire data bus 500. The proposed ultrasonic sensor 405 communicates with the higher-level computer system 505 via its UART data interface 560 in a UART mode 190 and in a signaling mode 195.

Control signals 425 for controlling the controllable device parts (445, 455, 465, 475, 485) of the ultrasound reception path (515, 520 465, 470, 475, 480, 485, 490) and the ultrasonic transmission path (440, 445, 450, 455, 460, 465, 510, 515) and status signals of these device parts (445, 455, 465, 475, 485) for analyzing and monitoring the condition of these device parts (445, 455, 465, 475, 485) through the ultrasonic control 435 of the ultrasonic control device the state of these device parts and allow the ultrasonic control device 435 to control these device parts. This means that the control device 410 can also control these device parts.

In addition, the ultrasonic sensor 405 includes a UART clock or UART oscillator 530. The UART data interface 430 can use synchronization lines 435 to provide the UART clock or UART oscillator 530 with the clock and / or the frequency and / or the phase of a synchronization signal the data bus 500 to synchronize the UART clock frequency of the system clock of the ultrasonic sensor 405 and / or the UART system clock 540 of the UART clock or UART oscillator 530. The UART data interface 430 uses the then synchronized system clock 540 of the ultrasonic sensor 405 and/or the UART system clock of the UART clock generator or UART oscillator 530.

According to the proposal, the ultrasonic sensor 405 comprises a time counter 555, which, for example, typically ends the ultrasonic measurement phase 125 after a programmed, or set or predetermined period of time has elapsed and, if necessary, is used to determine time stamps for echo data in the ultrasonic measurement phase 125.

Figure 5

The 5 largely corresponds to that 4 with the difference that the data bus 500 is not designed as a single-wire data bus, but as a two-wire data bus. This two-wire data bus includes a first data line 545 for transmitting data from the ultrasonic sensor 405 to the transmitter assigned computer system 505. The data transmission via this first data line 545 using the UART protocol is interrupted in the ultrasound measurement phase 125 and replaced by signaling using the described signaling protocol for the duration of the ultrasound measurement phase 125 in order to detect the echoes (140, 141, 142, 143, 144 ) to be able to signal promptly without delay. The two-wire data bus includes a second data line 550 for transmitting data from the higher-level computer system 505 to the ultrasonic sensor 405. The data transmission via this second data line 550 using the UART protocol is typically not interrupted in the ultrasonic measurement phase 125.

Figure 6

6 shows an ultrasound system 800 with several ultrasound sensors (405, 801 to 803). For simplicity, the document presented here assumes that these ultrasonic sensors are constructed in the same manner without limiting the technical teaching of this document thereto.

In the example of the 6 an ultrasonic sensor 801 other than the ultrasonic sensor 405 sends out the ultrasonic signal 510, while all ultrasonic sensors (405, 801 to 803) receive a respective reflected ultrasonic signal 520. In the example of the 6 All of these ultrasonic sensors (405, 801 to 803) communicate with the higher-level computer system 505 via a respective modified UART data interface 560 by means of a point-to-point data connection in the manner described above.

Figure 7

7 equals to 6 , where in the example the 7 all of these ultrasonic sensors (405, 801 to 803) communicate with the higher-level computer system 505 via a modified UART data interface 560 via a common data bus 500 by means of a star-shaped data connection in the manner described above. For this to be possible, it is necessary that a bus collision is avoided. As a rule, such a configuration is not practical, as simultaneous signaling of the echoes from all ultrasonic sensors is usually desired, which this configuration cannot achieve.

glossary

UART

The following text is a quote from the corresponding Wikipedia page (https://de.wikipedia.org/wiki/Universal_Asynchronous_Receiver_Transmitter): “Universal Asynchronous Receiver Transmitter, UART for short, is an electronic circuit that is used to implement digital serial interfaces. This can be an independent electronic component (a UART chip or component) or a function block of a higher-level integrated component (e.g. a microcontroller). A UART data interface is used to send and receive data via a data line and is the standard serial interface on PCs and microcontrollers. The interface with various interfaces (e.g. RS-232 or EIA-485 or RS-485) is also very common in the industrial sector. The data is transmitted as a serial digital data stream with a fixed frame consisting of a start bit, five to a maximum of eight or nine data bits (depending on the application), an optional parity bit to detect transmission errors and one or two stop bits consists. The transmitter does not need to communicate the transmission clock to the receiver via its own control line. Instead, the receiver calculates the transmitter's clock from the data line's clock and synchronizes itself using the start and stop bits. Typically, the stop bit can be configured to 1.5 or 2 times the normal transmission time of a bit. This is referred to as 1.5 or 2 stop bits and must be set equally at both the transmitter and receiver. Because the receiver recalculates the transmitter's clock with each byte received and synchronizes itself to it each time, even large differences in the clock between the transmitter and receiver can be compensated for. Even short-term clock fluctuations are quickly compensated for. That is why this type of data transfer is called “asynchronous” and this type of synchronization is called “bytesynchronous”.

A universal asynchronous receiver-transmitter in the sense of the present document is typically a computer hardware device for asynchronous serial communication in which the data format and the transmission speed are configurable. It sends the data bits one after the other, preferably from the least significant to the most significant, preferably framed by start and stop bits synchronously in as fixed a phase relationship as possible to a UART clock, so that the communication channel enables precise timing. The electrical signal levels are typically handled by a driver circuit external to the UART logic. Two common signal levels are the RS-232 system, a 12-volt system, and the RS-485, a 5-volt system. Early teleprinters also used current loops.

A UART is typically a single (or part of) an integrated circuit (IC) designed for the Serial communication is used over a serial port on a computer or peripheral device. One or more UART peripherals are typically integrated into microcontroller chips. Specialized UARTs are used for automobiles, smart cards and SIM cards.

In the present case, the focus is on the use for communication between a higher-level computer system and an ultrasonic sensor.

A related device, the Universal Synchronous and Asynchronous Receiver-Transmitter (USART), also supports synchronous operation.

As a rule, a UART data interface has a transmit output, usually designated TX, and a receive input, usually designated RX.

When UARTs are mentioned in this document, so-called USART interfaces should also be included. The reader should then replace UART with USART. This particularly applies to claims.

A universal synchronous and asynchronous receiver-transmitter (USART, programmable communications interface or PCI), as used herein, is a serial interface device that can be programmed for asynchronous or synchronous communication.

The USART's synchronous capabilities were primarily intended to support synchronous protocols such as IBM's synchronous transmit-receive (STR), binary synchronous communications (BSC), synchronous data link control (SDLC), and the ISO-standardized HDLC protocols (High-Level Data Link Control) used with synchronous voice frequency modems. These protocols were developed to make optimal use of bandwidth when modems were still analog devices. At that time, the fastest frequency shift keying (FSK) asynchronous voice band modem could reach a maximum speed of 300 bps, while synchronous phase shift keying (PSK) modems could reach speeds of up to 9600 bps. Synchronous transmission required only a little more than 80% of the bandwidth of today's asynchronous transmission because start and stop bits were unnecessary.

These modems are obsolete and have been replaced by modems that convert asynchronous data into synchronous forms, but similar synchronous telecommunications protocols survive in numerous block-oriented technologies such as the widely used IEEE 802.2 (Ethernet) link-level protocol. USARTs are sometimes still integrated into MCUs. USARTs are still used in routers that connect to external CSU/DSU devices, and they often use either Cisco's proprietary HDLC implementation or the IETF standard Point-to-Point Protocol (PPP) in HDLC similar framing as defined in RFC 1662.

The operation of a USART is closely related to the various protocols.

USARTs in synchronous mode transmit data in frames. In synchronous operation, the characters must be provided in time until a frame is complete. If the controlling processor does not do this, it is a so-called “underrun error” and the transmission of the frame is aborted.

USARTs that operate as synchronous devices use either character-oriented or bit-oriented mode. In character-oriented mode (STR and BSC), the device relied on specific characters to define frame boundaries; In bit-oriented mode (HDLC and SDLC), earlier devices relied on physical layer signals, while later devices adopted physical layer recognition of bit patterns.

A synchronous line is never silent; when the modem sends, the data flows. When the physical layer indicates that the modem is active, a USART sends a steady stream of padding, either characters or bits, depending on the device and protocol.

Other comments

The above description is not intended to be complete and does not limit this disclosure to the examples shown. Other variations to the disclosed examples may be understood and accomplished by those of ordinary skill in the art from the drawings, disclosure and claims. The German indefinite articles “ein” or “eine” and their inflections do not exclude a plurality, while the mention of a certain number of elements does not exclude the possibility that there are more or fewer elements. A single unit may perform the functions of multiple elements mentioned in the disclosure, and conversely, multiple elements may perform the functions of one unit. Numerous alternatives, equivalents, variations and combinations are possible without the scope of the present disclosure is departed.

Unless otherwise stated, a free combination of all features of the present invention with one another is expressly part of the technical teaching described here. This applies to the entire document presented here. Unless otherwise stated, a free combination of the features described in the description of the figures is also expressly part of the technical teaching disclosed here as a combination of the features of the invention with the other features of the technical teaching of this document. A limitation of individual features of the exemplary embodiments to the combination with other features of the exemplary embodiments is expressly not intended. In addition, objective features of the device can also be used reformulated as process features and process features can be reformulated as objective features of the device. Such a reformulation is therefore automatically disclosed in this document.

In the foregoing detailed description, reference is made to the accompanying drawings. The examples in the description and drawings should be considered illustrative. The examples in the description of this document should not be viewed as limiting the specific example or element described. Several examples can be derived from the foregoing description and/or the drawings and/or the claims of this document by modifying, combining or varying certain elements. In addition, a person skilled in the art may derive from the description and/or drawings examples or elements that are not described literally.

Reference symbol list

105

envelope signal;

110

ultrasonic measurement cycle;

115

threshold curve;

120

Command phase, first phase of the ultrasonic measurement cycle 115;

125

Ultrasonic measurement phase (echo signaling), second phase of the ultrasonic measurement cycle 115. In the ultrasonic measurement phase, the ultrasonic sensor 405 signals the occurrence of an echo (140, 141, 142, 143, 144) directly to the higher-level computer system 505 via the UART data interface 430 using a signaling protocol differs from the UART protocol;

130

third phase of the ultrasonic measurement cycle 115: status and echo information phase;

135

commands;

140

Echo1 signal;

141

Echo2 signal;

142

Echo3 signal;

143

Echo4 signal;

144

Echo5 signal;

150

status data;

155

1st echo data 140;

156

Data from the 2nd echo 141;

157

Data from the 3rd echo 142;

158

Data from the 4th echo 143;

160

CRC and/or verification information;

165

the higher-level computer system 505 sends data and commands 120 to the control device 410 of the ultrasonic sensor 405 using a UART protocol via the external data bus 500 and the UART data interface 430 of the ultrasonic sensor 404;

170

The ultrasonic sensor 405 sends signals (140 to 144) for received echoes to the higher-level computer system 505 via the external data bus 500 using the UART data interface 430 of the ultrasonic sensor 405, the UART data interface 430 not using a UART protocol, but the data line from the ultrasonic sensor 405 to the higher-level computer system 505 for typically one clock period of the UART clock from a first logical state to a second logical state when the ultrasonic sensor 405 has detected an echo;

175

the ultrasonic sensor 405 sends status data and/or echo data and/or classification data and/or result data of self-tests and/or test data etc. via the external data bus 500 to the higher-level computer system 505 using the UART data interface 430 of the ultrasonic sensor 405 using a UART protocol;

180

the higher-level computer system 505 sends data and/or commands via the external data bus 500 and the UART data interface 430 of the ultrasonic sensor, preferably by means of a UART protocol, to the control device 410 of the ultrasonic sensor 405 or a similar device and/or reads data from the ultrasonic sensor 405 by means of a UART protocol.

185

Start signal with which the ultrasonic sensor 405 signals the start of the ultrasonic measurement phase and the start of the emission of the ultrasonic signal 510 to the higher-level computer system 505 via the data bus 500 without using the UART protocol. For example, it can be a first pulse of, for example, 50 μs duration, which marks the start of the measurement in the measurement phase 615 and the time of the first filter measurement point for the signal processing chain;

190

UART mode of data transmission between the UART data interface 430 and the higher-level computer system 505 via the external data bus 500, which uses the UART protocol in UART mode;

195

Signaling mode of data transmission between the UART data interface 430 and the higher-level computer system 505 via the external data bus 500, the signaling mode when an echo is detected by the ultrasonic sensor 405, the data line of the data bus, for example for a UART clock period from a first logical state draws a second logical state;

400

simplified ultrasound system

405

ultrasonic sensor;

410

control device;

415

non-volatile memory;

420

volatile memory;

425

wide peripheral blocks that are part of the ultrasonic sensor 405 and part of the internal computer system of the ultrasonic sensor 405;

430

UART data interface (modified);

435

ultrasonic control;

440

Ultrasonic control control signals for controlling the digital part of the ultrasonic transmission path;

445

Digital part of the ultrasonic transmission path of the ultrasonic sensor 405;

450

digital ultrasound transmission signal and control signals for the analog part 455 of the ultrasound transmission path;

455

Analog part of the ultrasonic transmission path of the ultrasonic sensor 405;

460

analog ultrasound transmission signal for controlling the ultrasound transducer 465;

465

ultrasonic transducers;

470

analog ultrasound reception signal from the ultrasound transducer 465;

475

Analog part of the ultrasonic receiving path of the ultrasonic sensor 405;

480

digital ultrasound reception signal of the ultrasound transducer 465;

485

Digital part of the ultrasonic receiving path of the ultrasonic sensor 405;

490

reception, classification, status and test result data;

495

internal data and control bus of the ultrasonic sensor 405;

500

external data bus over which the modified UART data communication discussed in this document occurs;

505

higher-level computer system with which the ultrasonic sensor 405 communicates via the data bus 500,

510

emitted ultrasound signal;

515

Object or objects that reflect the ultrasonic signal;

520

reflected ultrasound signal;

525

Control signals for controlling the controllable device parts (445, 455, 465, 475, 485) of the ultrasound reception path (%15, 520 465, 470, 475, 480, 485, 490) and the ultrasound transmission path (440, 445, 450, 455, 460, 465, 510, 515) and status signals of these device parts (445, 455, 465, 475, 485) for analyzing and monitoring the condition of these device parts (445, 455, 465, 475, 485) by the ultrasonic control 435;

530

UART clock or UART oscillator;

535

Synchronization lines for synchronizing the UART clock or UART oscillator 530 with the clock and / or the frequency and / or the phase of a synchronization signal on the data bus 500 for synchronizing the UART clock frequency of the system clock of the ultrasonic sensor 405 and / or the UART system clock 540 the UART clock or UART oscillator 530;

540

System clock of the ultrasonic sensor 405 and/or the UART system clock of the UART clock or UART oscillator 530;

545

Data line for transmitting data from the ultrasonic sensor 405 to the higher-level computer system 505. The data transmission via this data line using the UART protocol is interrupted in the ultrasonic measurement phase 125 and replaced by signaling using the described signaling protocol for the duration of the ultrasonic measurement phase 125 in order to detect the echoes (140, 141, 142, 143, 144) to be able to signal promptly without delay;

550

Data line for transmitting data from the higher-level computer system 505 to the ultrasonic sensor 405. The data transmission via this data line using the UART protocol is typically not interrupted in the ultrasonic measurement phase 125;

555

Time counter 555, which typically ends the ultrasound measurement phase 125 again after a programmed, or set or predetermined period of time has elapsed;

560

UART data interface of the higher-level computer system 505;

600

Transducer driver signal of the analog ultrasound transmission signal 460 for controlling the ultrasound transducer 465;

605

Receiver signal of the analog ultrasound reception signal 470 of the ultrasound transducer 465;

610

time delay for the transmission phase and the decay phase of the oscillating element of the ultrasonic transducer 465;

615

actual measurement time;

620

signal processing and echo detection;

625

exemplary second pulse of, for example, 50 μs duration with a first filter measuring point from the signal processing chain of the ultrasonic sensor 405, which signals the end of the decay phase and the transmission phase 610 to the higher-level computer system 505;

700

previous coding without signaling the echo height in the ultrasound measurement phase 125;

705

modified coding. With modified coding, the duration of an echo signaling depends on the height of the maximum of an echo signal;

740

First signaling of the very high amplitude first echo over a very long time;

741

Second signaling of the second echo, which is very high in amplitude, is very long in time;

742

Shorter in time third signaling of the third echo with smaller amplitude;

743

Fourth signaling of the fourth echo, which is very high in amplitude, is very long in time;

744

short-term fifth signaling of the fifth echo, which is smaller in amplitude;

A

Amplitude;

t

Time;

t0

Start time of the ultrasonic measurement cycle 115 and start of the command phase 120, wherein in the subsequent command phase 120 the higher-level computer system 505 sends one or more commands 135 by means of a UART protocol via the UART data interfaces 560 of the higher-level computer system 505 and the UART data interface 430 of the ultrasonic sensor 405 sends the ultrasonic sensor 405;

t1

End time of the command phase 120 and start time of the ultrasonic measurement phase 125. Typically, a start signal 185 signals the start of the ultrasonic measurement phase 125 to the higher-level computer system 505 via the data bus 500. Starting with this start time of the ultrasonic measurement phase or at least in a fixed time reference following this start time, the ultrasonic sensor sends 405 typically emits an ultrasonic burst or signal. The ultrasonic sensor 405 preferably starts a time counter 555 at the start time 01 of the ultrasonic measurement phase 125, which typically ends the ultrasonic measurement phase 125 again after a programmed, or set or predetermined period of time has elapsed;

t2

End time of the ultrasound measurement phase 125 and start time of the third phase 130 of the ultrasound measurement cycle 110. The time counter 555 preferably determines this end time of the ultrasound measurement phase 125 and the start time of the third phase 130 of the ultrasound measurement phase 125 by means of the expiration of a programmed, or set or predetermined period of time from the start time t1 of the ultrasound measurement phase 125 Ultrasonic measurement cycle 110;

t3

End of the ultrasonic measurement cycle 110. The ultrasonic sensor 405 can transmit the end of the ultrasonic measurement cycle to the higher-level computer system 505, for example by means of a special end signal as the date of the data transmitted in the third phase 130 of the ultrasonic measurement cycle 110, with such an end signal preferably being followed by a predetermined amount of data, for example, for test information such as CRC checks etc. Instead of an end signal, it is also conceivable that the ultrasonic sensor 405 transmits to the higher-level computer unit 505 at the beginning of the third phase 130 of the ultrasonic measurement cycle 110 information about the number of data that the ultrasonic sensor 405 still transmits or in total in this third phase 130 of the ultrasonic measurement cycle 110 , so that the higher-level computer system 505 can calculate the end of the ultrasonic measurement cycle 110;

Claims (15)

Method for communication between a higher-level computer system (505) and an ultrasonic sensor (405) by means of a UART protocol via a UART data interface (430) of the ultrasonic sensor (405), comprising the steps - carrying out an ultrasonic measurement cycle (110) having three successive ones phases (120, 125, 130); - Starting the ultrasonic measurement cycle (110) at the beginning of the first time phase (120) of the ultrasonic measurement cycle (110), hereinafter referred to as the command phase (120), - Transmitting a command (135) from the higher-level computer system (505) to the ultrasonic sensor (405 ), which type of measurement the ultrasonic sensor (405) should carry out in the ultrasonic measurement cycle (110), this transmission taking place in the command phase (120); - Emitting an ultrasound burst or ultrasound signal (510) at the beginning of the second phase (125), hereinafter referred to as the ultrasound measurement phase (125), the properties of the ultrasound burst or the ultrasound signal (510) depending on the one preceding it in time and/or the one immediately preceding it in time depend on the command (135) that the ultrasonic sensor (405) received in a time preceding and/or the immediately preceding command phase (135); - Interrupt communication accordingly the UART protocol during the ultrasound measurement phase (125); - Setting the signal of the UART data interface (430) on the side of the ultrasonic sensor (405) to a first logical value for the duration of the ultrasonic measurement phase (125) when the ultrasonic sensor (405) does not receive an echo, and setting the signal of the UART Data interface (430) on the side of the ultrasonic sensor (405) to a second logical value in the ultrasonic measurement phase (125) when the ultrasonic sensor (405) receives an echo, the first logical value deviating from the second logical value; - Ending the ultrasonic measurement phase (125) after a predetermined time and/or when predetermined conditions exist and beginning the third phase (130) of the ultrasonic measurement cycle (110); - Resumption of communication between the ultrasonic sensor (405) and the higher-level computer system (505) using a data exchange protocol in accordance with the UART protocol after the end of the ultrasonic measurement phase (125) in the third phase (130) of the ultrasonic measurement cycle (110); - Transmitting data in the third phase (130) of the ultrasonic measurement cycle (110) from the ultrasonic sensor (405) to the higher-level computer system (505); - Receiving and executing one or more of the following commands (135) and/or sub-commands in the command phase (120) by the ultrasonic sensor (405), wherein a command (135) comprises one or more of the following commands and/or sub-commands: - a Synchronization information for synchronizing a system clock of the ultrasonic sensor (405) and/or a UART clock (540) of the UART data interface (430) and/or - length information that indicates what length the command (135) has and/or how much command data the command (135) comprises and/or - check information and/or - check information in the form of a check bit and/or a check value and/or a CRC check sum, the command (135) and/or several commands, and/ or - the number of subcommands that form the entire command (135), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in the ultrasonic measurement phase (125) in the same way as the ultrasonic sensor (405) should carry it out repeatedly during the last measurement in the last ultrasonic measurement phase (125), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out a measurement in the ultrasonic measurement phase (125). the way in which the ultrasonic sensor (405) carried out it repeatedly in a previous measurement in a previous ultrasonic measurement phase (125), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in a subsequent ultrasonic measurement phase (125) in accordance with a predetermined form known to the ultrasonic sensor (405), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in the immediately following this command phase (120). Ultrasonic measurement phase (125) should be carried out in accordance with a predetermined form known to the ultrasonic sensor (405), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst ( 510), which should show a chirp corresponding to a previously carried out chirp direction in a previously carried out ultrasonic measurement cycle (125), and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in the immediate subsequent ultrasound measurement phase (125) with an ultrasound burst (510), which should show a chirp corresponding to the last chirp direction carried out immediately before in the ultrasound measurement cycle (110) carried out immediately before, and / or - a command (135) or subcommand, that the ultrasonic sensor (405) should carry out the measurement in a subsequent ultrasonic measurement phase (110) with an ultrasonic burst (510), which should show a chirp opposite to a previously carried out chirp direction in a previously carried out ultrasonic measurement cycle (110), and / or - a Command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst (510) which produces a chirp opposite to the last chirp direction carried out immediately before in the ultrasonic measurement cycle carried out immediately before (125) should show, and / or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510), which should show a chirp-down , and/or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst (510), which should show a chirp-down, and/or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510), which should show a chirp-up, and / or - a command (135 ) or subcommand that the ultrasonic sensor (405) is to carry out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst (510), which is to show a chirp-up, and/or - a command (135) or subcommand that the ultrasonic sensor (405 ) the measurement should be carried out in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510), which should show a predetermined frequency, and / or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in the immediate subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510), which should show a predetermined frequency, and / or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in a subsequent ultrasonic measurement phase (125). an ultrasonic burst (510), which is intended to show a predetermined or transmitted starting frequency, and/or - a command (135) or subcommand that the ultrasonic sensor (405) carries out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst ( 510), which should show a predetermined or transmitted starting frequency, and / or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510). , which should show a predetermined or transmitted final frequency, and / or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst (510), which is a should show a predetermined or transmitted final frequency, and/or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in a subsequent ultrasonic measurement phase (125) with an ultrasonic burst (510) which has a predetermined number of ultrasonic pulses and/or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in the immediately following ultrasonic measurement phase (125) with an ultrasonic burst (510) which should have a predetermined number of ultrasonic pulses, and/or - a command (135) or subcommand that the ultrasonic sensor (405) should carry out the measurement in one or more subsequent ultrasonic measurement phases (125) with several successive ultrasonic bursts (510), each of which has a predetermined number of ultrasonic pulses should, and/or - a command (135) or subcommand that signals to the ultrasonic sensor (405) that the command phase (120) should be skipped in n subsequent ultrasonic measurement cycles (110), where n is an integer positive number greater than or equal to 0, and/or - a command (135) or subcommand that signals to the ultrasonic sensor (405) that the command phase (120) should be skipped by the higher-level computer system (505) in n subsequent ultrasonic measurement cycles (110), where n is an integer positive number is greater than or equal to 0, and/or - a command (135) or sub-command that signals that the actually subsequent ultrasonic measurement phase (125) of this ultrasonic measurement cycle (110) is not being carried out, and/or - a command (135) or sub-command that signals that the actually subsequent third phase (130) of the ultrasonic measurement cycle (110) is not being carried out, and/or - a command (135) or sub-command that includes one or more of the above sub-commands in terms of content and/or their effect , and/or - a command (135) that switches the UART communication to a different communication protocol for communication between an ultrasonic sensor and the higher-level computer system for a predetermined period of time and/or until a switch-back signal occurs in the data communication. Procedure according to Claim 1 - Setting the signal of the UART data interface (430) of the ultrasonic sensor (405) to a first logical value during the ultrasound measurement phase (125) for a predetermined pulse duration when the ultrasonic sensor (405) does not receive an echo, and setting the signal of the UART data interface (430) otherwise to a second logical value during the ultrasonic measurement phase (125) when the ultrasonic sensor (405) receives an echo, the first logical value deviating from the second logical value. Procedure according to Claim 1 or 2 - where the pulse duration depends on a parameter of a received echo. Procedure according to one of the Claims 1 until 3 - where the pulse duration depends on the amplitude of the received echo. Procedure according to one of the Claims 1 until 4 - wherein the data transmitted in the third phase (130) of the ultrasonic measurement cycle (110) from the ultrasonic sensor (405) to the higher-level computer system (505) includes one or more of the following data: - status information (150), - the measured values of physical parameters of the Ultra sound sensor (405) and/or - status information (150), - the results of self-tests of the ultrasonic sensor (405) and/or - status information (150), - the measured values of the ultrasonic transmission path (465, 510, 515, 520, 465) of the ultrasonic sensor (405), into which the ultrasonic sensor (405) sends ultrasonic signals (510) and/or from which it receives ultrasonic signals (520), and/or - status information (150), - which indicates what type of ultrasonic burst and/ or ultrasonic signal (510) the ultrasonic sensor (405) wants to have emitted in the immediately preceding ultrasonic measurement phase (110), and/or - status information (150), - indicate the values of the ultrasonic burst and/or ultrasonic signal (510) of the ultrasonic sensor (405), which the ultrasonic sensor (405) wants to have emitted in the immediately preceding ultrasonic measurement phase (125), and/or - information, - indicates the values of the ultrasonic burst and/or ultrasonic signal (520) which the ultrasonic sensor (405) sends in the immediately preceding ultrasonic measurement phase ( 125) wants to have received, and / or - echo information (155, 156, 157, 158), which reproduce the measured values of the echoes (140, 141, 142, 143, 144) received in the ultrasound measurement phase (125), and / or - echo information (155, 156, 157, 158), which reflect the measured values of the echoes (140, 141, 142, 143, 144) received in the ultrasonic measurement phase (125), - these measured values ◯ the number of the echo (140, 141, 142, 143, 144) and/or ◯ the amplitude of the echo (140, 141, 142, 143, 144) and/or ◯ the time of reception of the echo (140, 141, 142, 143, 144) and/or ◯ a confidence value for the probability that the echo (140, 141, 142, 143, 144) is actually an echo of an object (515) in the ultrasonic transmission path of the ultrasonic sensor (405), into which the ultrasonic sensor (405) sends ultrasonic signals (510) and/ or from which the ultrasonic sensor (405) receives ultrasonic signals (520), and/or - command information, - which indicates which commands or which command (135) the ultrasonic sensor (405) received in one of the preceding command phases (120) and/or received in the immediately preceding command phase (120), and/or - command information, - which indicates which commands or which command (135) the ultrasonic sensor (405) received in one of the preceding command phases (120) and/or in the immediately preceding one command phase (120), and - which have determined what type of ultrasonic burst or ultrasonic signal (510) the ultrasonic sensor (405) has emitted, and / or - test information (160) which is in the third phase (130) of the ultrasonic measurement cycle ( 110) transmitted data in the form of CRC data, - whereby the higher-level computer system (505) can check this test information in order to check the proper reception of the data that the ultrasonic sensor (405) sends to the higher-level computer system (505) in the third phase (130) of the ultrasonic measurement cycle (125), and/or - test information (160) of the data transmitted in the third phase (130) of the ultrasonic measurement cycle (110), - whereby the higher-level computer system (505) can check this test information in order to ensure the correct To check receipt of the data that the ultrasonic sensor (405) transmits to the higher-level computer system (505) in the third phase (130) of the ultrasonic measurement cycle (125), and / or - test information (160) of the information signaled in the ultrasonic measurement phase (125). (140, 141, 142, 143, 144), - whereby the higher-level computer system (505) can check this test information (160) in order to ensure the proper reception of the information (140, 141, 142, 143) signaled in the ultrasound measurement phase (125), 144), and/or - test information (160) of the commands (135) signaled by the higher-level computer system (505) in the command phase (120), - whereby the higher-level computer system (505) can check this test information in order to ensure proper reception to check the commands (135) signaled in the command phase (120) by the ultrasonic sensor (405) and/or - test information (160) of the commands (135) signaled in the command phase (120), - which indicate whether the ultrasonic sensor (405) has detected an error during the transmission of one or more commands (135) from the higher-level computer system (505) to the ultrasonic sensor (405) in the command phase (120), and/or - test information (160), - which contains the results of Reproduce self-tests or tests of the ultrasonic sensor (405) and/or - length information - which indicates or which makes it possible to calculate how much data the ultrasonic sensor (405) receives from the ultrasonic sensor (405) in the third phase (130) of the ultrasonic measurement cycle (110). is transmitted to the higher-level computer system (505). Procedure according to one of the Claims 1 until 5 , - comprising the additional steps: - forming an ultrasound reception signal (470) of an ultrasound transducer (465) or an ultrasound receiver as a function of an acoustic ultrasound signal (520) that the ultrasound sensor (405) receives; Procedure according to one of the Claims 1 until 6 , - comprising the additional steps: - temporarily transmitting a synchronization signal for synchronizing a UART clock frequency of a participant in the UART communication via the UART data interface (430). Procedure according to Claim 7 , - wherein the ultrasonic sensor (405) has a system clock and / or a UART system clock (540) of the UART data interface (430) - with the step - changing parameters of a system clock (540) of the ultrasonic sensor (405) and / or the UART system clock (540) of the UART data interface (430) of the ultrasonic sensor (405) depending on a transmitted synchronization signal for synchronizing the UART clock frequency. Procedure according to one of the Claims 1 until 8th , - with the steps - said transmission of the ultrasound burst or ultrasound signal (510) at the beginning of the ultrasound measurement phase (125) in accordance with a previously received command (135); - Receiving a reflected ultrasound signal or reflected ultrasound burst (520) and converting it into a received signal (470) in the ultrasound measurement phase (125); - Forming an envelope signal from the received signal in the ultrasound measurement phase; - Measuring the envelope signal (105) in the ultrasonic measurement phase (125) after the emission of the ultrasonic burst or ultrasonic signal (510) and determining one or more symbols for one or more recognized signal objects, each with associated signal object parameters, based on the envelope signal (105); - Transmitting symbols for recognized signal objects and/or the parameters of these signal objects in the third phase (130) of the ultrasound measurement cycle (110) to the higher-level computer system (505). Procedure according to one of the Claims 1 until 9 , - with the steps - said transmission of the ultrasound burst or ultrasound signal (510) at the beginning of the ultrasound measurement phase (125) in accordance with a previously received command (135); - Receiving a reflected ultrasound signal or reflected ultrasound burst (520) and converting it into a received signal (470) in the ultrasound measurement phase (125); - Forming an envelope signal (105) from the received signal (470) in the ultrasound measurement phase (125); - Measuring the envelope signal (105) in the ultrasonic measurement phase (125) after the emission of the ultrasonic burst or ultrasonic signal (510) and determining measured values of the envelope signal (105) in the ultrasonic measurement phase (125); - Signaling the arrival of an echo (140, 141, 142, 143, 144) at the ultrasonic sensor ($05) to the higher-level computer system (505) in the ultrasonic measurement phase (125) when the value curve of the envelope signal (105) exceeds the instantaneous value of a threshold curve (115 ) crosses in a first direction and / or - signaling the end of the arrival of an echo (140, 141, 142, 143, 144) at the ultrasonic sensor (405) to the higher-level computer system (505) in the ultrasonic measurement phase (125), if the Value curve of the envelope signal (105) crosses the instantaneous value of a threshold curve (115) in a second direction opposite to the first direction. Procedure according to Claim 10 , - Signaling the arrival of echoes (140, 141, 142, 143, 144) at the ultrasonic sensor (405) to the higher-level computer system (505) in the ultrasonic measurement phase (125) synchronously to a system clock of the ultrasonic sensor and / or synchronously to a UART System clock (540) of the UART data interface (430). Procedure according to one of the Claims 1 until 11 , - Transmission of diagnostic data such as hardware errors of a microelectronic circuit or other device parts of the ultrasonic sensor (405) and other diagnostic errors of the ultrasonic sensor (405) to the higher-level computer system (505) in the third phase (130) of the ultrasonic measurement cycle (110) . Procedure according to one of the Claims 1 until 12 , - Transmission of determined values of up to four echoes (140, 141, 142, 143, 144) (echo height, temporal echo position) as data in the third phase (130) of the ultrasonic measurement cycle (110) from the ultrasonic sensor (405) to the higher-level computer system (505). Procedure according to Claim 13 , - whereby a transmitted determined value is the echo height and / or the temporal echo position based on the start signal (185). Procedure according to one of the Claims 1 until 14 comprising the steps - signaling the start of the ultrasound measurement phase (125) in the ultrasound measurement phase (125) with a first pulse (185); - Signaling the start of the actual measurement phase (615) in the ultrasound measurement phase (125) with a second pulse (625); - Detecting the time interval between the first pulse (185) and the second pulse (625); - Conclusion of an error if the value of the detected time interval between the first pulse (185) and the second pulse (625) is not within an expected value interval for the value of this time interval.

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