Correction of ultrasound-based measurements by means of angle information

A method for correcting at least one ultrasound-based measurement of an ultrasonic sensor of a sensor arrangement by a control device, the method comprising the following steps:

• transmitting and/or receiving sound waves by at least one ultrasonic sensor, and determining at least one distance to a reflection position along a measuring plane based on a time-of-flight measurement of the sound waves;
• determining at least one angle within the measuring plane and/or outside the measuring plane, by evaluating measurement data from transducer elements of at least one ultrasonic sensor array;
• and
• correcting a localization error of the at least one determined distance between the ultrasonic sensor and the reflection position along the measuring plane using the determined angle.

A sensor arrangement, comprising:

• a control device;
• at least one ultrasonic sensor;
• and
• at least one ultrasonic sensor array having at least two transducer elements, wherein the ultrasonic sensor and the transducer elements of the ultrasonic sensor array are connected in a data-conducting manner to the control device, wherein the at least one ultrasonic sensor and the at least one ultrasonic sensor array have the same and/or a different installation height on a contour of a vehicle;
• wherein the sensor arrangement is configured to correct at least one ultrasound-based measurement of the ultrasonic sensor of the sensor arrangement using the control device, sensor arrangement configured to:
• transmit and/or receive sound waves by the at least one ultrasonic sensor, and determine at least one distance to a reflection position along a measuring plane based on a time-of-flight measurement of the sound waves;
• determine at least one angle within the measuring plane and/or outside the measuring plane, by evaluating measurement data from the transducer elements of the at least one ultrasonic sensor array;
• and
• correct a localization error of the at least one determined distance between the ultrasonic sensor and the reflection position along the measuring plane using the determined angle.

A method for resolving ambiguities of at least one ultrasound-based measurement of a sensor arrangement by a control device, the method comprising the following steps:

• transmitting and/or receiving sound waves by at least one ultrasonic sensor and by at least one ultrasonic sensor array, wherein at least two distances to different reflection positions are determined based on a time-of-flight measurement of the sound waves;
• determining at least one angle between the ultrasonic sensor array and at least one reflection position by evaluating measurement data from transducer elements of the ultrasonic sensor array;
• and
• assigning the reflection positions and/or the determined distances to at least one object using the at least one determined angle.

A control device configured to correct at least one ultrasound-based measurement of an ultrasonic sensor of a sensor arrangement, the control device configured to:

• transmit and/or receive sound waves by at least one ultrasonic sensor, and determine at least one distance to a reflection position along a measuring plane based on a time-of-flight measurement of the sound waves;
• determine at least one angle within the measuring plane and/or outside the measuring plane, by evaluating measurement data from transducer elements of at least one ultrasonic sensor array;
• and
• correct a localization error of the at least one determined distance between the ultrasonic sensor and the reflection position along the measuring plane using the determined angle.

A non-transitory machine-readable storage medium on which is stored a computer program for correcting at least one ultrasound-based measurement of an ultrasonic sensor of a sensor arrangement, the computer program, when executed by a computer, causing the computer to perform the following steps:

• transmitting and/or receiving sound waves by at least one ultrasonic sensor, and determining at least one distance to a reflection position along a measuring plane based on a time-of-flight measurement of the sound waves;
• determining at least one angle within the measuring plane and/or outside the measuring plane, by evaluating measurement data from transducer elements of at least one ultrasonic sensor array;
• and
• correcting a localization error of the at least one determined distance between the ultrasonic sensor and the reflection position along the measuring plane using the determined angle.