CN102395900A - Obstacle detection device and obstacle detection method - Google Patents
Obstacle detection device and obstacle detection method Download PDFInfo
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- CN102395900A CN102395900A CN2009801587693A CN200980158769A CN102395900A CN 102395900 A CN102395900 A CN 102395900A CN 2009801587693 A CN2009801587693 A CN 2009801587693A CN 200980158769 A CN200980158769 A CN 200980158769A CN 102395900 A CN102395900 A CN 102395900A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
In order to have a high response to an obstacle approaching at high speed and improve detection performance for even an obstacle with a complicated shape, an obstacle detection device comprises a plurality of ultrasonic sensors (11 to 14) and a controller (ECU15). The ultrasonic sensors (11 to 14) transmit and receive ultrasonic waves by a single resonator. The controller (ECU15) detects, using the ultrasonic sensors (11 to 14), the position of an obstacle by simultaneously transmitting and receiving the ultrasonic waves, sequentially switches two or more specific ultrasonic sensors that have detected the obstacle to perform transmissions, performs receptions by using all the ultrasonic sensors (11 to 14), and continues to detect the obstacle until it becomes impossible to detect the obstacle in a detection area where the specific ultrasonic sensors have detected the obstacle.
Description
Technical field
The present invention relates to use a plurality of ultrasonic sensors to detect obstacle detector and obstacle detection method barrier, that be particularly suitable for moving bodys such as vehicle.
Background technology
As obstacle detector, in the past, the laser radar, the microwave radar that uses microwave that use laser beam arranged, utilize changes in capacitance detect barrier capacitance type sensor, utilize practicability such as hyperacoustic ultrasonic sensor.Wherein, as the rotary angle transmitter of vehicle,, use cheapness and the high ultrasonic sensor of reliability for more in-plant detection of obstacles.
About using ultrasonic sensor to detect the technology of barrier; A plurality of schemes had been proposed in the past; For example; Disclosed following technology in the patent documentation 1: use a plurality of transmissions with and the ultrasonic sensor that receives usefulness send ultrasound wave simultaneously, and carry out time-division processing between pulse area and switch the output signal sending with number of sensors, thereby look it is to receive simultaneously with a plurality of receptions.
In addition; Disclosed following technology in the patent documentation 2: the bumper for vehicle disposes ultrasonic sensor on a horizontal straight line; Both prevented to send the interference of ripple, and for example made again to separate 1 and adjacent ultrasonic sensor sends and detect the reflection wave from barrier simultaneously.
In addition; Disclosed following technology in the patent documentation 3: the ultrasonic sensor of configuration more than three; And according to the range information of each ultrasonic sensor concentration degree and flatness, the location and the shape of coming the disturbance in judgement thing as the circle of each radius positional information intersected with each other.
In addition; Disclosed following technology in the patent documentation 4: ultrasonic sensor is disposed along level and vertical direction; And stagger and send regularly; The technology that is disclosed with patent documentation 3 likewise, according to the three-dimensional position of obtaining barrier with the range information of each sensor as the intersection point of the circle of radius.
The prior art document
Patent documentation
Patent documentation 1: japanese patent laid-open 10-177073 communique
Patent documentation 2: Japanese Patent Laid is opened the 2006-298266 communique
Patent documentation 3: japanese patent laid-open 7-260933 communique
Patent documentation 4: japanese patent laid-open 7-013611 communique
Yet,, come to send simultaneously ultrasound wave through using the special-purpose ultrasonic sensor of transmitting-receiving, thereby can ultrasonic irradiation (transmission) be arrived barrier on a large scale and at high speed, but receiver side to switch respectively according to the technology that above-mentioned patent documentation 1 is disclosed.Thereby the number of sending and receiving sensor is many, and receiver side is provided with change-over switch.Device is complicated, and expensive.
In addition, according to the technology that above-mentioned patent documentation 2 is disclosed, adjacent ultrasonic sensor section switching time is sent, but possibly lag behind for the detection of the approaching barrier of high speed.
The technology that is disclosed according to above-mentioned patent documentation 3 is effectively for the positional information of acquired disturbance thing, but under the complex-shaped situation of barriers such as reflecting surface inclination, misinterpretation may takes place.
The technology that is disclosed according to above-mentioned patent documentation 4; The technology that is disclosed with patent documentation 3 likewise; Misinterpretation may take place under the complex-shaped situation of barrier; For example, the vehicle when imagination is retreated or go in the situation of front vehicles as barrier under, for as the bend of the tailstock and headstock, the detection of obstacles of the complicated shape that tilts of reflecting surface is not effective.
Summary of the invention
The present invention accomplishes in order to address the above problem, and can improve the obstacle detector and the method that also can improve the detection performance for the response of the approaching barrier of high speed for the barrier of complicated shape even its purpose is to provide.
Obstacle detector involved in the present invention comprises: a plurality of ultrasonic sensors; And control device; This control device utilizes said a plurality of ultrasonic sensor to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of said barrier successively; And utilize all ultrasonic sensors to receive, and continue the detection of said barrier, can not detect said barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting said barrier till.
According to the present invention; Control device utilizes a plurality of ultrasonic sensors to receive and dispatch simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of barrier successively; And utilize all ultrasonic sensors to receive, and continue the detection of barrier, can not detect barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting barrier till.
Therefore, compare, can detect the approaching barrier of high speed earlier, improve response with switching the existing obstacle detector that each ultrasonic sensor carries out detection of obstacles successively.In addition; Shape according to barrier; Though reflection wave can be towards the reflection of the direction beyond the surveyed area of the ultrasonic sensor that sends; But, therefore have and improve the effect that detects performance and can not omit barrier owing to can utilize the ultrasonic sensor that sends beyond hyperacoustic ultrasonic sensor to detect reflection wave.
Description of drawings
Fig. 1 illustrates the ultrasonic sensor that uses in the related obstacle detector of embodiment of the present invention 1 in an example of the configuration on the vehicle and and near the figure of the relation between the vehicle.
Fig. 2 is the figure that the structure of the related obstacle detector of embodiment of the present invention 1 is shown.
Fig. 3 utilizes process flow diagram that the figure of the action of the related obstacle detector of embodiment of the present invention 1 is shown.
Fig. 4 is detection of obstacles scope and the transmitting-receiving figure regularly thereof that the ultrasonic sensor of the related obstacle detector of embodiment of the present invention 1 is shown.
Fig. 5 utilizes process flow diagram that the figure of the action of the related obstacle detector of embodiment of the present invention 2 is shown.
Fig. 6 is the figure of location determining method of the barrier of the related obstacle detector of schematically illustrated embodiment of the present invention 2.
Fig. 7 is detection of obstacles scope and the transmitting-receiving figure regularly thereof that the specific ultrasonic sensor of the related obstacle detector of embodiment of the present invention 2 is shown.
Fig. 8 is the transmission figure regularly that the ultrasonic sensor of the related obstacle detector of embodiment of the present invention 3 is shown.
Embodiment
Below, in order to illustrate in greater detail the present invention, the mode that is used for embodiment of the present invention is described according to accompanying drawing.
Fig. 1 is the figure that an example of the configuration of ultrasonic sensor on vehicle of using in the related obstacle detector of embodiment of the present invention 1 is shown; The ultrasound wave that further will send from ultrasonic sensor here, and from also illustrating in the lump as the relation between the reflection wave that receives near vehicle of barrier.
According to Fig. 1, ultrasonic sensor 11,12,13,14 disposes a plurality of along the headstock side of vehicle 1 or the level and the vertical direction of tailstock side.
Here; Shown in Fig. 1 (a); Two ends at the tailstock bumper of vehicle 1 dispose two ultrasonic sensors 11,12; In addition, dispose a ultrasonic sensor 13 at the pars intermedia of tailstock bumper, further (vertical direction of ultrasonic sensor 13) disposes ultrasonic sensor 14 near the licence plate on the top that is positioned at tailstock bumper.In addition, ultrasonic sensor 11,12,13,14 can be a plurality of along level and vertical direction configuration, for its quantity and the not special restriction of configuration mode.
Fig. 1 (b) is the ultrasonic sensor 11～14 that utilizes front elevation (Fig. 1 (b)) and vertical view (Fig. 1 (c)) to illustrate respectively to be disposed at vehicle 1 (c), and near the figure of ultrasonic wave propagation path between the vehicle 2 and reflection wave sensing range.Here, the approaching situation of the vehicle parked when vehicle 1 is retreated 2 is shown for example.Therefore, in below the explanation vehicle 2 is called near vehicle 2.
Fig. 2 is the figure that the structure of the related obstacle detector of embodiment of the present invention 1 is shown.According to Fig. 2, embodiment 1 related obstacle detector 100 of the present invention comprises ultrasonic sensor 11,12,13,14, electronic control unit (ECU15) and alarm output unit 16.
ECU15 with microprocessor (CPU150) as the control maincenter; Here; Execution is as the function of control device; This control device " utilize a plurality of ultrasonic sensors 11,12,13,14 to carry out hyperacoustic transmitting-receiving simultaneously detecting the position of barrier, and change detection is sent successively to the plural specific ultrasonic sensor of barrier, and utilize all ultrasonic sensors to receive; and continue the detection of barrier, can not detect barrier till " up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting barrier.Particularly; Under the programmed control of CPU150 in depositing in internal or external storer; Transmitting-receiving order according to above-mentioned ultrasonic sensor 11～14; Drive ultrasonic sensor 11～14 via output port (driver 151～154), and read reflection wave, detect the position of barrier through Measuring Time from barrier via input port.The details of above-mentioned transmitting-receiving order will be set forth in the back.
CPU150 also controls alarm output unit 16.Alarm output unit 16 is under the control that CPU150 carries out, for example to utilize lamp etc. to warn the display device of demonstration, or produce the voice output of warning tones, causes driver's attention through alarm at barrier during near preset distance.
Fig. 3 utilizes process flow diagram that the figure of the action of the related obstacle detector 100 of embodiment of the present invention 1 is shown.In addition, Fig. 4 is detection of obstacles scope and the transmitting-receiving figure regularly thereof that ultrasonic sensor 11～14 is shown respectively.
Below, with reference to Fig. 3, Fig. 4, the action of the related obstacle detector 100 of embodiment shown in Figure 21 is elaborated.
The CPU150 of ECU15 drives driver 151,152,153,154 at first simultaneously, utilizes ultrasonic sensor 11～14 to carry out hyperacoustic transmitting-receiving (step ST301) that drives simultaneously.Therefore, the ultrasonic oscillator 110 that constitutes ultrasonic sensor 11～14 is driven by booster circuit 111, thereby sends ultrasound wave, simultaneously, and the reflection wave that utilizes ultrasonic oscillator 110 to receive from barrier.
Then, the reflection wave that is received by ultrasonic oscillator 110 amplifies through voltage amplifier circuit 112, is read by CPU150, and utilizes CPU150 that the judgement (step ST302) of clear is arranged.
Sensing range of the barrier when sending ultrasound wave simultaneously shown in Fig. 4 (Fig. 4 (a)) and transmitting-receiving thereof be (Fig. 4 (b)) regularly.
In addition, the sensing range of the barrier of ultrasonic sensor 11～14 in fact roughly is fan shape, but in Fig. 4 (a), in order to help to understand explanation, illustrates with triangle.
Among Fig. 4 (a), the detection of obstacles scope of each ultrasonic sensor 11,12,13 when utilizing ultrasonic sensor 14 to send is shown with shade.Can know distance L 1, L2, L3 between basis and the barrier, its sensing range is different.For example, under the situation of ultrasonic sensor 11, the sensing range of barrier is merely S
11, under the situation of ultrasonic sensor 14, the sensing range of barrier is with S
14The Delta Region that illustrates.
On the other hand, among Fig. 4 (b),, go up the reception signal that ultrasound wave transmission signal and reflection wave thereof are shown with pulse waveform at time shaft (t) to each ultrasonic sensor 11～14.Explanation for ease, the former illustrates with rect.p., and the latter illustrates with triangular pulse.In addition, among Fig. 4 (b), the level that dotted line is represented is a threshold value, and the triangular pulse (reflection wave) that receives above this threshold value becomes effective obstacle detection signal in the ultrasound examination zone.
Returning Fig. 3 describes.As the above-mentioned result of determination that clear is arranged; If any in the ultrasonic sensor 11～14 detects the reflection wave above threshold value; Be judged to be barrier (step ST302 " is "); Then CPU150 makes built-in counter N carry out initialization (step ST303), and then refresh counter N makes it+1 (step ST304).
In addition, in any ultrasonic sensor 11,12,13,14, all do not detect under the situation of barrier (step ST302 " denys "), drive all the sensors when turning back to step ST301 and the transmitting-receiving carried out is handled.
On the other hand; Among the step ST304 value of refresh counter N make it+1 CPU150 then drives the ultrasonic sensor 11 (12,13,14) suitable with the value that counter N is set and sends ultrasound wave, utilizes all ultrasonic sensors 11,12,13,14 to receive its reflection wave (step ST305).
Then, CPU150 judges the position of the barrier that is received by each ultrasonic sensor 11～14, and the numbering of the ultrasonic sensor that wherein detects barrier is stored in built-in register X (step ST306).
Then, CPU150 compares (step ST307) to the value of counter N and the quantity M (being 4 here) that is arranged at the ultrasonic sensor 11,12,13,14 of vehicle.Here, under the situation of the value of the not enough M of the value of N (step ST307 " deny "), CPU150 execution in step ST304 processing afterwards once more.
That is, the value of CPU150 refresh counter N makes it+1, and switches successively and send hyperacoustic ultrasonic sensor 11,12,13,14, and the numbering of the ultrasonic sensor that detects barrier is stored in register X.Repeat above-mentioned action, till the value of counter N becomes the value suitable with the quantity of the ultrasonic sensor that is arranged at vehicle.
Repeat above-mentioned action; If the value of counter N becomes and the suitable value (step ST307 " is ") of quantity that is arranged at the ultrasonic sensor of vehicle, then CPU150 selects a conduct to detect the ultrasonic sensor 11 (12,13,14) (step ST308) of the particular sensor of barrier from register X.Here, in register X, store under the situation of numbering of a plurality of ultrasonic sensors, switch this ultrasonic sensor successively and select.
Then; CPU150 carries out alarm based on the reception signal that reads from selected ultrasonic sensor and judges (step ST309); Detecting driving alarm output unit 16 under the situation of barrier; The direction and the distance that show barrier perhaps utilize buzzer etc. to cause driver's attention (step ST310) under barrier is close to the situation of preset distance, and the selection that turns back to the particular sensor of step ST308 is handled.
The obstacle detector 100 related according to above-mentioned embodiment 1; ECU15 (control device) utilizes a plurality of ultrasonic sensors 11,12,13,14 to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of barrier successively; And utilize all ultrasonic sensors to receive; And continue the detection of barrier, can not detect barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting barrier till.
Therefore, compare, can detect the approaching barrier of high speed earlier, improve response with switching the existing obstacle detector that each ultrasonic sensor 11,12,13,14 carries out detection of obstacles successively.In addition; Shape according to barrier; Though reflection wave can be towards the reflection of the direction beyond the surveyed area of the ultrasonic sensor 11,12,13,14 that sends; But, therefore can obtain to improve the effect that detects performance and can not omit barrier owing to can utilize the ultrasonic sensor that sends beyond hyperacoustic ultrasonic sensor to detect reflection wave.
Fig. 5 utilizes process flow diagram that the figure of the action of the related obstacle detector of embodiment of the present invention 2 is shown.
In the embodiment 2 that describes below also with embodiment 1 likewise, the configuration of ultrasonic sensor 11～14 on vehicle 1, and the structure of obstacle detector 100 have the structure identical with Fig. 1, embodiment shown in Figure 21.In the embodiment 2 that describes below, the ultrasonic sensor that override is selected when being that with the difference of above-mentioned embodiment 1 switching ultrasonic sensor 11～14 successively sends.
Among Fig. 5, ECU15 (CPU150) at first with embodiment 1 likewise, drive simultaneously ultrasonic sensor 11,12,13,14 with carry out hyperacoustic simultaneously the transmitting-receiving (step ST501).Therefore, the ultrasonic oscillator 110 of ultrasonic sensor 11～14 is driven by booster circuit 111, thereby sends ultrasound wave, simultaneously, utilizes ultrasonic oscillator 110 to receive its reflection wave.Then, the reflection wave that is received by ultrasonic oscillator 110 amplifies through voltage amplifier circuit 112, is read by CPU150, and utilizes CPU150 that the judgement (step ST502) of clear is arranged.
Here, be judged to be (step ST502 " is ") under the situation of barrier, CPU150 utilizes the point of crossing of circle to carry out the location determination (step ST503) of barrier.
Particularly, the preferential selection of CPU150 to be judged to be any the desired location in the ultrasonic sensor 11～14 of barrier in will the determination processing that clear is arranged with step ST502 be initial point, be that the coordinate position of the point that intersects of the circle of radius is as in the ultrasonic sensor 11～14 of sending zone any to receive wave propagation time or range information.Then, counter N is set the numbering (step ST504) of this ultrasonic sensor of expression.In addition, receive that the range information of signal is different, under the situation that do not have round intersection point (step ST503 " deny "), drive when turning back to step ST501 and hyperacoustic processing of transmitting-receiving simultaneously of carrying out at each.
The location determining method of schematically illustrated barrier among Fig. 6.Be judged to be barrier (reflection wave) in the determination processing that clear is arranged of step ST502 afterwards; CPU150 is as shown in Figure 6; Will be from ultrasonic sensor 11～14 respectively receive range information that signal obtains as radius; According to point of crossing information each other, confirm the roughly position candidate of barrier by the formed circle of this radius.Here, circle dots, and in addition, the position, point of crossing is used ● expression, and the surveyed area that illustrates ultrasonic sensor 14 is made as the example as the preferential supervision candidate of particular sensor.
Detection of obstacles scope of ultrasonic sensor shown in Fig. 7 11～14 (Fig. 7 (a)) and transmitting-receiving thereof be (Fig. 7 (b)) regularly.
Shown in Fig. 7 (a), transmitting-receiving drives ultrasonic sensor 11～14 o'clock at the same time, in scribbling the scope of shade, utilizes two above-mentioned circles to intersect the position of decidable barrier.At this moment, shown in Fig. 7 (b),, only drive ultrasonic sensor 14 with the transmission ultrasound wave, and utilize all ultrasonic sensors to receive for illustrated barrier 16.Here, utilize the ultrasonic sensor 14,13 that is in surveyed area can receive reflection wave.Arrow among the figure is represented from the reflected propagation paths of barrier 16 and is transmission wave trajectories of effective ultrasonic wave sensor 14 for detecting barrier 16.Why the triangular pulse of ultrasonic sensor 14 is bigger than ultrasonic sensor 13, is for the distance of reflected ultrasonic wave sensor in detection of obstacles 14 with barrier.
Returning Fig. 5 describes.CPU150 in step ST504 with X number, for example ultrasonic sensor 14 as preferential keep watch on the candidate counter N set after; At first drive ultrasonic sensor 14 with the transmission ultrasound wave, and utilize all ultrasonic sensors 11,12,13,14 to receive its reflection waves (step ST505).
Then, CPU150 judges the position of the barrier that is received by each ultrasonic sensor 11～14, and the numbering of the ultrasonic sensor that wherein detects barrier 11 (12,13,14) is stored in built-in register X (step ST506).
Next, CPU150 compares (step ST507) to the value of counter N and the quantity M (being 4 here) that is arranged at the ultrasonic sensor 11,12,13,14 of vehicle.
Here, under the situation of the value of the not enough M of the value of N (step ST507 " deny "), CPU150 execution in step ST505 processing afterwards once more.That is, the value of CPU150 refresh counter N makes it+1 (step ST508), and switch to send hyperacoustic ultrasonic sensor 11,12,13,14 successively, and the numbering of the ultrasonic sensor that detects barrier is stored in register X.Repeat above-mentioned action, till the value of counter N becomes the value suitable with the quantity of the ultrasonic sensor that is arranged at vehicle.
Repeat above-mentioned action; If the value of counter N becomes and the suitable value (step ST507 " is ") of quantity that is arranged at the ultrasonic sensor of vehicle; Then CPU150 selects a conduct to detect the ultrasonic sensor 11 (12,13,14) of the particular sensor of barrier from register X, and continues hyperacoustic transmitting-receiving (step ST509).
Then; CPU150 carries out alarm based on the reception signal that reads from selected ultrasonic sensor and judges (step ST510); Detecting driving alarm output unit 16 under the situation of barrier; The position (left of vehicle/right-hand/centre) and the distance that show barrier perhaps utilize buzzer etc. to cause driver's attention (step ST511) under barrier is close to the situation of preset distance, and the selection that turns back to the particular sensor of step ST509 is handled.
The obstacle detector 100 related according to above-mentioned embodiment 2; ECU15 (control device) is switching under the situation that plural specific ultrasonic sensor sends successively, and preferential selection will be initial point with the position of specific ultrasonic sensor, be the specific ultrasonic sensor of the coordinate position of the point that intersects of the circle of radius as the sending zone to receive wave propagation time or range information.
Therefore, compare, can detect the approaching barrier of high speed earlier with switching the existing obstacle detector that each ultrasonic sensor 11,12,13,14 carries out detection of obstacles successively; Improve response; In addition, compare, further improve response with embodiment 1.And; Shape according to barrier; Though reflection wave can be towards the reflection of the direction beyond the surveyed area of the ultrasonic sensor 11,12,13,14 that sends; But, therefore can obtain to improve the effect that detects performance and can not omit barrier owing to can utilize the ultrasonic sensor that sends beyond hyperacoustic ultrasonic sensor to detect reflection wave.
Fig. 8 is the transmission figure regularly that the ultrasonic sensor of the related obstacle detector of embodiment of the present invention 3 is shown.
In the embodiment 3 that describes below also with embodiment 1,2 likewise, the configuration of ultrasonic sensor 11,12～14 on vehicle 1, and the structure of obstacle detector 100 have the structure identical with Fig. 1, embodiment shown in Figure 21.
Can know according to Fig. 8; The hyperacoustic transmitting-receiving simultaneously that in above-mentioned, drives ultrasonic sensor and carry out is handled in (the step ST301 of Fig. 3, the ST501 of Fig. 5); CPU150 makes the transmission in the driving of sensing range ultrasonic sensor interfering with each other 11 and ultrasonic sensor 12 and ultrasonic sensor 13 and ultrasonic sensor 14 regularly produce delay; Postponed the size that ultrasound wave sends the time width Δ t above (Δ t+ α) of pulse, to avoid interference.
The obstacle detector 100 related according to above-mentioned embodiment 3; ECU15 (control device) makes the above size of time width of transmission pulse of another ultrasonic sensor of transmission constant time lag of the ultrasonic sensor that surveyed area take place to disturb under the situation of utilizing a plurality of ultrasonic sensors 11,12,13,14 to receive and dispatch simultaneously.Therefore, except the effect that embodiment 1, embodiment 2 have, the effect that the detection that the interference of the transmission ripple in the time of also can obtaining to reduce owing to transmission causes is omitted.
In addition, the function that the ECU15 of Fig. 2 has both can all realize with software, perhaps also can realize its at least a portion with hardware.For example; Following data processing one or more programs both capable of using realize on computers; Hardware also capable of using is realized its at least a portion; This data processing is: control device utilizes a plurality of ultrasonic sensors to carry out hyperacoustic transmitting-receiving simultaneously detecting the position of barrier, and change detection is sent to the plural specific ultrasonic sensor of said barrier successively, and utilizes all ultrasonic sensors to receive; And continue the detection of said barrier, can not detect said barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting said barrier till.
In addition; Obstacle detection method of the present invention is the detection method that comprises the barrier in the obstacle detector 100 of a plurality of ultrasonic sensors 11,12,13,14 and control device (ECU15); Said control device is for example in Fig. 3; Have: first step (ST301), in this first step (ST301), utilize said a plurality of ultrasonic sensor to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; Second step (T302～ST307), this second step (among the T302～ST307), send to the plural specific ultrasonic sensor of said barrier successively, and utilize all ultrasonic sensors to receive by change detection; And third step (ST308), in this third step (ST308), continue the detection of said barrier, till can not detecting said barrier in the surveyed area of the specific ultrasonic sensor that is detecting said barrier.
According to obstacle detection method of the present invention; ECU15 utilizes a plurality of ultrasonic sensors 11～14 to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of barrier successively; And utilize all ultrasonic sensors to receive, and continue the detection of barrier, can not detect barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting barrier till.
Therefore, compare, can detect the approaching barrier of high speed earlier, improve response with switching the existing obstacle detector that each ultrasonic sensor 11～14 carries out detection of obstacles successively.In addition; Shape according to barrier; Though reflection wave can be towards the reflection of the direction beyond the surveyed area of the ultrasonic sensor 11～14 that sends; But owing to can utilize the ultrasonic sensor that sends beyond hyperacoustic ultrasonic sensor to detect reflection wave, therefore can improve and detect performance and can not omit barrier.
Practicality in the industry
As stated; About obstacle detector involved in the present invention and method; In order to improve response for the approaching barrier of high speed; Even and also make for the barrier of complicated shape and to detect performance and improve, adopt following structure, comprising: utilize an oscillator to carry out a plurality of ultrasonic sensors of hyperacoustic transmitting-receiving; And control device; This control device utilizes a plurality of ultrasonic sensors to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of barrier successively; And utilize all ultrasonic sensors to receive, and continue the detection of barrier, can not detect barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting barrier till.Therefore, the present invention is not only applicable to vehicle certainly, is applicable to various moving bodys yet.
Claims (5)
1. an obstacle detector is characterized in that, comprising:
A plurality of ultrasonic sensors; And
Control device; This control device utilizes said a plurality of ultrasonic sensor to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier; And change detection is sent to the plural specific ultrasonic sensor of said barrier successively; And utilize all ultrasonic sensors to receive, and continue the detection of said barrier, can not detect said barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting said barrier till.
2. obstacle detector as claimed in claim 1 is characterized in that,
Said control device
Switching successively under the situation that said plural specific ultrasonic sensor sends, preferential selection will be initial point with the position of said specific ultrasonic sensor, be the said specific ultrasonic sensor of the coordinate position of the point that intersects of the circle of radius as the sending zone with said reception wave propagation time or range information.
3. obstacle detector as claimed in claim 1 is characterized in that,
Said control device
Under the situation of utilizing said a plurality of ultrasonic sensor to receive and dispatch simultaneously, make the above size of time width of transmission pulse of another ultrasonic sensor of transmission constant time lag of the ultrasonic sensor that said surveyed area takes place to disturb.
4. obstacle detection method is the obstacle detection method that comprises in the obstacle detector of a plurality of ultrasonic sensors and control device, it is characterized in that,
Said control device has:
First step in this first step, utilizes said a plurality of ultrasonic sensor to carry out hyperacoustic transmitting-receiving simultaneously to detect the position of barrier;
Second step, in this second step, change detection is sent to the plural specific ultrasonic sensor of said barrier successively, and utilizes all ultrasonic sensors to receive; And
Third step in this third step, continues the detection of said barrier, can not detect said barrier up to becoming in the surveyed area of the specific ultrasonic sensor that is detecting said barrier till.
5. obstacle detection method as claimed in claim 4 is characterized in that,
In the said first step
Switching successively under the situation that said plural specific ultrasonic sensor sends, preferential selection will be initial point with the position of said specific ultrasonic sensor, be the said specific ultrasonic sensor of the coordinate position of the point that intersects of the circle of radius as the sending zone with said reception wave propagation time or range information.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2009/002701 WO2010146619A1 (en) | 2009-06-15 | 2009-06-15 | Obstacle detection device and obstacle detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102395900A true CN102395900A (en) | 2012-03-28 |
| CN102395900B CN102395900B (en) | 2013-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980158769.3A Expired - Fee Related CN102395900B (en) | 2009-06-15 | 2009-06-15 | Obstacle detection device and obstacle detection method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5634400B2 (en) |
| CN (1) | CN102395900B (en) |
| DE (1) | DE112009004941B4 (en) |
| WO (1) | WO2010146619A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109791196A (en) * | 2016-09-30 | 2019-05-21 | 松下知识产权经营株式会社 | Detection device, detection method and detection program |
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| CN109884639A (en) * | 2017-12-06 | 2019-06-14 | 深圳市优必选科技有限公司 | Obstacle detection method and device for mobile robot |
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| DE102012016866A1 (en) | 2012-08-25 | 2014-02-27 | Valeo Schalter Und Sensoren Gmbh | Method for improved control of ultrasonic sensors, driver assistance device and motor vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2010146619A1 (en) | 2012-11-29 |
| CN102395900B (en) | 2013-10-09 |
| WO2010146619A1 (en) | 2010-12-23 |
| DE112009004941T5 (en) | 2012-09-20 |
| JP5634400B2 (en) | 2014-12-03 |
| DE112009004941B4 (en) | 2016-05-12 |
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