# US 11,307,306 B2 · Method and device for providing ultrasonic signal information > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,306 B2 - Document ID: US11307306B2 - Status: Granted - Kind: B2 - Application number: 16/488,061 - Filed: 2018-02-21 - Published: 2020-01-23 - Granted: 2022-04-19 - Earliest claimed: 2017-02-23 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Christian Pampus; Michael Schumann - Web page: https://patentgrep.com/patent/US11307306B2 ## CPC - G01S 15/108: {using more than one pulse per sonar period} - G01S 7/539: using analysis of echo signal for target characterisation; Target signature; Target cross-section - G01S 15/08: Systems for measuring distance only (indirect measurement G01S15/46) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A method for providing ultrasonic signal information includes receiving a plurality of echo signals, ascertaining a relatedness of individual echo signals from the plurality of echo signals based on a run time and/or a significance of the echo signals, grouping the echo signals for which a relatedness was ascertained in an echo signal group, and providing a property that is characteristic for the echo signal group. The present invention furthermore relates to a device associated with the method. ## Claims ### Claim 1 A method for providing ultrasonic signal information, the method comprising: emitting, via an ultrasonic transmitter of a first ultrasonic sensor, an ultrasonic signal having a constant frequency or a chirp shape; receiving, via an ultrasonic receiver of a second electronic sensor, a plurality of echo signals reflected by different points of an object, wherein each of the ultrasonic sensors include the ultrasonic receiver and the ultrasonic transmitter, wherein since each of the echo signals from the plurality of echo signals have a different point of origin on the object, the echo signals arrive at the ultrasonic sensors at different times and have different signal shapes and signal amplitudes, and wherein the emitting of the ultrasonic signal and the receiving of the plurality of echo signals are performed respectively by both of the ultrasonic sensors, so that the ultrasonic sensors can receive the echo signals from the ultrasonic signals that they themselves emitted and/or echo signals from the ultrasonic signals emitted by the other of the ultrasonic sensors; ascertaining one or more relationships that are each of respective subsets of the plurality of echo signals, each of the relationships being of the echo signals of the respective subset to each other and being at least based on run times and a respective significance of each of the echo signals; and grouping, for each of the subsets or which a respective one of the one or more relationships has been ascertained, the echo signals of the respective subset into a respective echo signal group, and providing a property that is characteristic of the respective echo signal group; wherein a run time of each of the echo signals is determined by calculating a time difference between a time of emission of the ultrasonic signal and a reception of a respective one of the echo signals, and wherein the time difference is the run time associated with the respective one of the echo signals, wherein the significance of each of the echo signals is determined by running each one of the echo signals through an optimal or matched filter, which is configured to a signal shape of the ultrasonic signal, wherein an amplitude at an output of the filter is regarded as the significance of each of the echo signals, so that at least an amplitude of a respective one of the echo signals and its similarity in its signal shape with respect to the emitted ultrasonic signal is used to determine the significance of echo signal, wherein a first criterion in ascertaining the relatedness of individual echo signals points to a relatedness of two consecutive echo signals if the run time difference between run times of the two consecutive echo signals is smaller than a specific time value, wherein the run time difference is a difference between a respective run time of the two consecutive echo signals, wherein a check is performed to determine whether run time difference is smaller than the specific time value by checking whether the run time difference is below a specified threshold value that describes the specific time value, wherein in ascertaining the relatedness of individual echo signals, the second criterion for the relatedness of two consecutive echo signals is whether a significance of the initially received echo signal is greater than or equal to a significance of the subsequently received echo signal, and wherein if the first and the second criteria indicate a relatedness of two consecutive echo signals, they are marked as related, and wherein the specific time value is a variable value, which is selected as a function of a significance of the first echo signal received of two consecutive echo signals. ### Claim 2 (depends on 1) The method of claim 1, wherein the specific time value is reduced after a relatedness of the two consecutive echo signals is ascertained. ### Claim 3 (depends on 1) The method of claim 1, wherein the ascertaining of the one or more relationships includes determining, as a criterion of relatedness between two consecutive ones of the plurality of echo signals, that the significance of a first received one of the two consecutive echo signals is at least as great as a significance of the other of the two consecutive echo signals. ### Claim 4 (depends on 1) The method of claim 1, wherein the ascertaining of the one or more relationships includes determining, as a criterion against relatedness between two consecutive ones of the plurality of echo signals, that a second received one of the two consecutive echo signals is assignable to an echo signal group different than the other of the two consecutive echo signals. ### Claim 5 (depends on 1) The method of claim 1, further comprising: classifying, for a respective one of the echo signal groups, an object from which the echo signals of the echo signal group were reflected based on a property characteristic for the echo signal group. ### Claim 6 (depends on 1) The method of claim 1, wherein the significance of the first received on the echo signals of the respective echo signal group is adapted as a function of a number of the echo signals grouped in the respective echo signal group. ### Claim 7 A device for providing ultrasonic signal information, comprising: an ultrasonic transmitter of a first ultrasonic sensor to transmit an ultrasonic signal having a constant frequency or a chirp shape; an ultrasonic receiver of a second electronic sensor to receive a plurality of echo signals, reflected by different points of an object, wherein each of the ultrasonic sensors include the ultrasonic receiver and the ultrasonic transmitter, wherein since each of the echo signals from the plurality of echo signals have a different point of origin on the object, the echo signals arrive at the ultrasonic sensors at different times and have different signal shapes and signal amplitudes, and wherein the emitting of the ultrasonic signal and the receiving of the plurality of echo signals are performed respectively by both of the ultrasonic sensors, so that the ultrasonic sensors can receive the echo signals from the ultrasonic signals that they themselves emitted and/or echo signals from the ultrasonic signals emitted by the other of the ultrasonic sensors; and an electronics arrangement for performing the following: ascertaining one or more relationships that are each of respective subsets of the plurality of echo signals, each of the relationships being of the echo signals of the respective subset to each other and being at least based on run times and a respective significance of each of the echo signals; and grouping, for each of the subsets or which a respective one of the one or more relationships has been ascertained, the echo signals of the respective subset into a respective echo signal group, and providing a property that is characteristic of the respective echo signal group; wherein a run time of each of the echo signals is determined by calculating a time difference between a time of emission of the ultrasonic signal and a reception of a respective one of the echo signals, and wherein the time difference is the run time associated with the respective one of the echo signals, wherein the significance of each of the echo signals is determined by running each one of the echo signals through an optimal or matched filter, which is configured to a signal shape of the ultrasonic signal, wherein an amplitude at an output of the filter is regarded as the significance of each of the echo signals, so that at least an amplitude of a respective one of the echo signals and its similarity in its signal shape with respect to the emitted ultrasonic signal is used to determine the significance of echo signal, wherein a first criterion in ascertaining the relatedness of individual echo signals points to a relatedness of two consecutive echo signals if the run time difference between run times of the two consecutive echo signals is smaller than a specific time value, wherein the run time difference is a difference between a respective run time of the two consecutive echo signals, wherein a check is performed to determine whether run time difference is smaller than the specific time value by checking whether the run time difference is below a specified threshold value that describes the specific time value, wherein in ascertaining the relatedness of individual echo signals, the second criterion for the relatedness of two consecutive echo signals is whether a significance of the initially received echo signal is greater than or equal to a significance of the subsequently received echo signal, and wherein if the first and the second criteria indicate a relatedness of two consecutive echo signals, they are marked as related, and wherein the specific time value is a variable value, which is selected as a function of a significance of the first echo signal received of two consecutive echo signals.