JP2014089077A - Obstacle detecting device - Google Patents

Obstacle detecting device Download PDF

Info

Publication number
JP2014089077A
JP2014089077A JP2012238203A JP2012238203A JP2014089077A JP 2014089077 A JP2014089077 A JP 2014089077A JP 2012238203 A JP2012238203 A JP 2012238203A JP 2012238203 A JP2012238203 A JP 2012238203A JP 2014089077 A JP2014089077 A JP 2014089077A
Authority
JP
Japan
Prior art keywords
obstacle
obstacle detection
detection means
wave
ultrasonic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2012238203A
Other languages
Japanese (ja)
Other versions
JP6089585B2 (en
Inventor
Tadashi Nakamura
正 中村
Takehito Harada
岳人 原田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2012238203A priority Critical patent/JP6089585B2/en
Publication of JP2014089077A publication Critical patent/JP2014089077A/en
Application granted granted Critical
Publication of JP6089585B2 publication Critical patent/JP6089585B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

PROBLEM TO BE SOLVED: To improve noise-resistant performance and to prevent erroneous detection in an obstacle detecting device for detecting an obstacle existing around a vehicle using a range sensor such as an ultrasonic sensor.SOLUTION: A vehicle is mounted with two ultrasonic sensors, and each of the ultrasonic sensors has a function for detecting an external noise. An obstacle detecting device (ECU) causes each ultrasonic sensor to detect the external noise before receiving the ultrasonic wave (S11). After that, one of the ultrasonic sensors is made to transmit the ultrasonic wave (S12). When even one of the ultrasonic sensors detects the external noise (S13: Yes), the detection information of all the ultrasonic sensors including the ultrasonic sensor that does not detect the external noise is invalidated (S14). When the external noise is not detected (S13: No), it is determined that an obstacle is detected in the case that both of the two ultrasonic sensors receive a reflective wave exceeding the threshold value, and otherwise it is determined that the obstacle is not detected (S15, S16, S17).

Description

本発明は、車両の周囲に存在する障害物を検知する障害物検知装置に関する。   The present invention relates to an obstacle detection device that detects an obstacle present around a vehicle.

従来、超音波センサ等の測距センサを用いて車両の周囲に存在する障害物を検知する障害物検知装置が知られている（例えば特許文献１参照）。この種の障害物検知装置は、測距センサにより、超音波等の探査波を周囲に送信しその探査波が障害物に当たって反射した反射波を受信して、その反射波の振幅が所定の閾値を超えていた場合に障害物の検知有りとしている。また、特許文献１の障害物検知装置では、超音波センサに外来ノイズの有無を判定する機能を持たせ、外来ノイズが有ると判定した場合には送信する超音波の周波数を変更して外来ノイズとの混信による障害物の誤検知を防止している。   2. Description of the Related Art Conventionally, there is known an obstacle detection device that detects an obstacle existing around a vehicle using a distance measuring sensor such as an ultrasonic sensor (see, for example, Patent Document 1). This kind of obstacle detection device transmits a search wave such as an ultrasonic wave to the surroundings by a distance measuring sensor, receives a reflected wave reflected by the search wave against the obstacle, and the amplitude of the reflected wave has a predetermined threshold value. If it exceeds the limit, an obstacle is detected. In the obstacle detection device of Patent Document 1, the ultrasonic sensor has a function of determining the presence or absence of external noise. When it is determined that there is external noise, the frequency of the ultrasonic wave to be transmitted is changed and the external noise is changed. Prevents false detection of obstacles.

特開２０１０−２３０４２７号公報JP 2010-230427 A

従来の障害物検知装置では、車両に複数の測距センサを搭載している場合には、各測距センサが個別に外来ノイズの有無を判定している。しかし、障害物検知装置を今後の安全分野（例えば、駐車空間を検知し検知した駐車空間に自動駐車する駐車支援分野）へ展開していくためには、さらなる耐ノイズ性の向上が必要である。   In a conventional obstacle detection device, when a plurality of distance measuring sensors are mounted on a vehicle, each distance measuring sensor individually determines the presence or absence of external noise. However, in order to expand the obstacle detection device in the future safety field (for example, the parking assistance field in which the parking space is detected and automatically parked in the detected parking space), further noise resistance needs to be improved. .

また、従来の障害物検知装置では、図２に示すように、超音波センサ２の障害物検知範囲３１（超音波の送信範囲）が路面１０１にまで及んでいることにより、警告の必要の無い路面上物体１０２（低い段差、道路区画線の中央線上に設置されたチャッターバー（キャッツアイ）等）を誤検知してしまうことがある。   Further, in the conventional obstacle detection device, as shown in FIG. 2, the obstacle detection range 31 (ultrasonic transmission range) of the ultrasonic sensor 2 reaches the road surface 101, so that no warning is required. An object 102 on the road surface (such as a low step, a chatter bar (cat's eye) installed on the center line of a road marking line) may be erroneously detected.

また、車両９を上から見た図３に示すように、車両９のフロント面９１に搭載された超音波センサ２の障害物検知範囲３１が車幅Ｗを超えた範囲にまで及んでいることにより、接触するおそれの少ない車幅Ｗを超えた位置に存在する障害物１０３を誤検知してしまうことがある。   Further, as shown in FIG. 3 when the vehicle 9 is viewed from above, the obstacle detection range 31 of the ultrasonic sensor 2 mounted on the front surface 91 of the vehicle 9 extends to a range exceeding the vehicle width W. As a result, the obstacle 103 existing at a position exceeding the vehicle width W that is less likely to come into contact may be erroneously detected.

これら図２、図３の誤検知を防止するために、探査波の送信出力を小さくしたり、障害物有無の閾値（反射波の振幅の閾値）を上げたりすることで、障害物検知範囲を路面や車幅を超えた範囲に及ばないようにする対応が考えられる。しかし、この場合には、図２、図３に示すように、探査波の送信出力や障害物有無の閾値を変更した後の障害物検知範囲３２では、路面付近の範囲や車幅を超えた範囲以外の範囲も縮小してしまう。つまり、誤検知を防止しようとすると、測距センサの検知特性（障害物検知範囲）が低下してしまう。   In order to prevent these erroneous detections in FIGS. 2 and 3, the obstacle detection range can be reduced by reducing the transmission output of the exploration wave or raising the threshold value for the presence or absence of the obstacle (the threshold value of the amplitude of the reflected wave) It is conceivable to take measures so as not to exceed the range exceeding the road surface and vehicle width. However, in this case, as shown in FIGS. 2 and 3, the obstacle detection range 32 after changing the transmission output of the exploration wave and the threshold value for the presence or absence of the obstacle exceeded the range near the road surface or the vehicle width. The range other than the range is also reduced. That is, if it is going to prevent false detection, the detection characteristic (obstacle detection range) of a distance measuring sensor will fall.

本発明は上記事情に鑑みてなされたものであり、耐ノイズ性を向上できる障害物検知装置を提供することを第１の課題とする。また、障害物検知範囲を低下させることなく障害物の誤検知を防止できる障害物検知装置を提供することを第２の課題とする。   This invention is made | formed in view of the said situation, and makes it the 1st subject to provide the obstruction detection apparatus which can improve noise resistance. Another object of the present invention is to provide an obstacle detection apparatus that can prevent erroneous detection of an obstacle without reducing the obstacle detection range.

上記課題を解決するために、第１の発明に係る障害物検知装置は、車両に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を障害物の検知情報として受信するとともに、外来ノイズを検知するノイズ検知手段を備えた複数の障害物検知手段と、
少なくとも１つの前記障害物検知手段の前記ノイズ検知手段が外来ノイズを検知した場合に全ての前記障害物検知手段の前記検知情報を無効とする検知無効手段と、
を備えることを特徴とする。 In order to solve the above-described problem, an obstacle detection device according to a first aspect of the present invention is an obstacle detection device that is mounted on a vehicle and transmits an exploration wave around the vehicle, and reflects the reflected wave reflected by the exploration wave against the obstacle. A plurality of obstacle detection means including noise detection means for detecting external noise and receiving as detection information;
A detection invalidation means for invalidating the detection information of all the obstacle detection means when the noise detection means of at least one of the obstacle detection means detects external noise;
It is characterized by providing.

第１の発明によれば、複数の障害物検知手段の１つでも外来ノイズを検知した場合には、外来ノイズを検知していない障害物検知手段の検知情報を含む全ての検知情報に外来ノイズが含まれている可能性があるので、この場合には全ての障害物検知手段の検知情報を無効とする。これによって、外来ノイズ有りと判定した障害物検知手段の検知情報のみを無効とする従来の構成に比べて耐ノイズ性を向上できる。   According to the first invention, when any one of the plurality of obstacle detection means detects the external noise, the external noise is included in all the detection information including the detection information of the obstacle detection means that has not detected the external noise. In this case, the detection information of all the obstacle detection means is invalidated. As a result, noise resistance can be improved as compared with the conventional configuration in which only the detection information of the obstacle detection means determined to have external noise is invalidated.

また、第２に発明に係る障害物検知装置は、車両に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を障害物の検知情報として受信するとともに、前記検知情報の振幅が所定の閾値を超えるか否かを判断する複数の障害物検知手段であって、いずれか１つの前記障害物検知手段が前記探査波を送信したときに、前記探査波を送信した前記障害物検知手段以外の前記障害物検知手段でも前記検知情報を受信できる位置に搭載された複数の障害物検知手段と、
いずれか１つの前記障害物検知手段が前記探査波を送信したときに、前記複数の障害物検知手段の少なくとも１つが前記検知情報を受信していない又は前記閾値未満の前記検知情報しか受信していない場合には、前記閾値を超えた前記検知情報を受信した前記障害物検知手段があったとしても障害物非検知と判定する非検知判定手段と、
を備えることを特徴とする。 According to a second aspect of the present invention, an obstacle detection device is mounted on a vehicle and transmits a search wave around the vehicle, and receives a reflected wave reflected by the search wave hitting the obstacle as obstacle detection information. A plurality of obstacle detection means for determining whether or not the amplitude of the detection information exceeds a predetermined threshold value, and when any one of the obstacle detection means transmits the search wave, the search wave A plurality of obstacle detection means mounted at a position where the detection information can be received by the obstacle detection means other than the obstacle detection means,
When any one of the obstacle detection means transmits the exploration wave, at least one of the plurality of obstacle detection means has not received the detection information or has received only the detection information less than the threshold. If not, even if there is the obstacle detection means that has received the detection information that exceeds the threshold, non-detection determination means to determine that the obstacle is not detected,
It is characterized by providing.

第２の発明によれば、複数の障害物検知手段は、いずれか１つの障害物検知手段が探査波を送信したときに、他の障害物検知手段でも検知情報を受信できる位置に搭載されているので、障害物が存在する場合には、各障害物検知手段はいずれも閾値を超えた検知情報を受信する可能性が高い。反対に、障害物が存在しない場合には、各障害物検知手段はいずれも検知情報を受信しないはずである。つまり、閾値を超えた検知情報を受信した障害物検知手段があったとしても、他の障害物検知手段では検知情報を受信していない場合には、受信した検知情報は外来ノイズである可能性が高い。そこで、本発明では、この場合には障害物非検知と判定するので、耐ノイズ性を向上できる。   According to the second invention, the plurality of obstacle detection means are mounted at positions where any one of the obstacle detection means can receive the detection information when any one of the obstacle detection means transmits an exploration wave. Therefore, when there is an obstacle, each obstacle detection means is highly likely to receive detection information exceeding the threshold value. On the other hand, when there is no obstacle, each obstacle detection means should not receive detection information. In other words, even if there is an obstacle detection means that has received detection information that exceeds the threshold, if other obstacle detection means has not received detection information, the received detection information may be external noise. Is expensive. Therefore, in the present invention, in this case, since it is determined that no obstacle is detected, noise resistance can be improved.

また、第２の発明によれば、いずれか１つの障害物検知手段が探査波を送信したときに、探査波の送信範囲が路面にまで及んでいる場合には、路面上物体からの反射波（検知情報）を受信してしまう可能性がある。路面上物体は、段差やチャッターバーなどフラットな面を有した物体が多い。この場合には、曲面の物体に比べて、探査波の反射方向が狭くなる。よって、探査波の送信範囲が路面にまで及んでいたとしても、全ての障害物検知手段が閾値を超えた検知情報（路面上物体からの反射波）を受信する可能性は低い。つまり、閾値を超えた検知情報を受信した障害物検知手段があったとしても、他の障害物検知手段では検知情報を受信していないか、閾値未満の検知情報しか受信していない場合には、受信した検知情報は路面上物体からの反射波である可能性が高い。本発明では、この場合には障害物非検知とするので、路面上物体の誤検知を防止できる。また、探査波の送信出力や閾値を変更する必要がないので、障害物検知範囲の低下を防止できる。   According to the second invention, when any one of the obstacle detection means transmits the exploration wave, if the exploration wave transmission range extends to the road surface, the reflected wave from the object on the road surface (Detection information) may be received. Many objects on the road surface have flat surfaces such as steps and chatter bars. In this case, the reflection direction of the exploration wave is narrower than that of a curved object. Therefore, even if the exploration wave transmission range extends to the road surface, it is unlikely that all obstacle detection means will receive detection information (reflected waves from objects on the road surface) exceeding the threshold. In other words, even if there is an obstacle detection means that has received detection information that exceeds the threshold, if other obstacle detection means has not received detection information or has received only detection information that is less than the threshold The received detection information is highly likely to be a reflected wave from an object on the road surface. According to the present invention, since no obstacle is detected in this case, erroneous detection of an object on the road surface can be prevented. Further, since it is not necessary to change the transmission output of the exploration wave and the threshold value, it is possible to prevent the obstacle detection range from being lowered.

第３の発明に係る障害物検知装置は、車両のフロント面又はリア面に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を受信してその反射波に基づき障害物までの距離を算出する２つの障害物検知手段であって、一方の前記障害物検知手段が前記探査波を送信したときに、他方の前記障害物検知手段でも前記反射波を受信できる位置に搭載された２つの障害物検知手段と、
一方の前記距離検知手段が前記探査波を送信したときの前記２つの障害物検知手段が検知した２つの前記距離と、前記２つの距離検知手段の間隔とに基づいて、三角測量の原理により、障害物の、前記車両の車幅方向における位置である横位置を算出する位置算出手段と、
前記横位置が前記車両の車幅を超えた位置の場合に障害物非検知と判定する非検知判定手段と、
を備えることを特徴とする。 An obstacle detection device according to a third aspect of the present invention is an obstacle detection device that is mounted on a front surface or rear surface of a vehicle, transmits an exploration wave around the vehicle, receives a reflected wave reflected by the exploration wave and hits the obstacle, and reflects the reflected wave. Two obstacle detection means for calculating a distance to the obstacle based on the wave, and when the one obstacle detection means transmits the exploration wave, the other obstacle detection means also transmits the reflected wave. Two obstacle detection means mounted in a position where it can be received;
Based on the principle of triangulation based on the two distances detected by the two obstacle detection means when one of the distance detection means transmits the exploration wave, and the interval between the two distance detection means, Position calculating means for calculating a lateral position of an obstacle in the vehicle width direction of the vehicle;
Non-detection determining means for determining that the obstacle is not detected when the lateral position is a position exceeding the vehicle width of the vehicle;
It is characterized by providing.

第３の発明によれば、位置算出手段が障害物の横位置（車幅方向における位置）を算出し、その横位置が車幅を超えた位置の場合には障害物非検知と判定するので、車幅を超えた位置の障害物の誤検知を防止できる。また、探査波の送信出力や閾値を変更する必要がないので、障害物検知範囲の低下を防止できる。なお、本発明において、車両のフロント面又はリア面には車両のコーナーも趣旨である。   According to the third invention, the position calculating means calculates the lateral position of the obstacle (position in the vehicle width direction), and determines that the obstacle is not detected when the lateral position exceeds the vehicle width. It can prevent false detection of obstacles at positions beyond the vehicle width. Further, since it is not necessary to change the transmission output of the exploration wave and the threshold value, it is possible to prevent the obstacle detection range from being lowered. In the present invention, the corner of the vehicle is also intended to be the front surface or the rear surface of the vehicle.

本発明における前記障害物検知手段は前記探査波として超音波を送信する。トラックのエアブレーキ音や他車に搭載された超音波センサからの超音波など、車両の周囲には超音波のノイズが溢れているので、超音波を送信する障害物検知手段を備えた障害物検知装置に本発明を適用すると好適である。   The obstacle detection means in the present invention transmits an ultrasonic wave as the exploration wave. Obstacles equipped with obstacle detection means that transmit ultrasonic waves because there is a lot of ultrasonic noise around the vehicle, such as air brake sound of trucks and ultrasonic waves from ultrasonic sensors mounted on other vehicles It is preferable to apply the present invention to a detection device.

障害物検知装置１の構成を示したブロック図である。1 is a block diagram illustrating a configuration of an obstacle detection device 1. FIG. 超音波センサ２の搭載位置等を説明するための図であり、車両９を横から見た図である。It is a figure for demonstrating the mounting position etc. of the ultrasonic sensor 2, and is the figure which looked at the vehicle 9 from the side. 超音波センサ２の搭載位置等を説明するための図であり、車両９を上から見た図である。It is a figure for demonstrating the mounting position etc. of the ultrasonic sensor 2, and is the figure which looked at the vehicle 9 from the top. 超音波センサ２の内部構成を示したブロック図である。2 is a block diagram showing an internal configuration of an ultrasonic sensor 2. FIG. 第１実施形態の障害物検知処理のフローチャートである。It is a flowchart of the obstacle detection process of 1st Embodiment. 左側の超音波センサ２Ｌで超音波の送信を行っている場面の図である。It is a figure of the scene which is transmitting the ultrasonic wave by the ultrasonic sensor 2L on the left side. 障害物の検知情報を無効とする態様を例示した図であり、超音波センサ２Ｒのみで外来ノイズが検知された場合の図である。It is the figure which illustrated the aspect which invalidates the detection information of an obstruction, and is a figure when the external noise is detected only by the ultrasonic sensor 2R. 障害物の検知情報を無効とする態様を例示した図であり、超音波センサ２Ｌのみで外来ノイズが検知された場合の図である。It is the figure which illustrated the aspect which invalidates the detection information of an obstruction, and is a figure when the external noise is detected only by the ultrasonic sensor 2L. 障害物検知有りとする態様を例示した図であり、外来ノイズが検知されず、両方の超音波センサで閾値を超える反射波を受信した例を示している。It is the figure which illustrated the mode which has obstacle detection, and shows the example which the external wave was not detected but the reflected wave exceeding a threshold was received with both ultrasonic sensors. 障害物非検知とする態様を例示した図であり、超音波センサ２Ｌでは検知情報の受信が無く、超音波センサ２Ｒでは検知情報の受信がある例を示している。It is the figure which illustrated the aspect made into an obstacle non-detection, and shows the example with no reception of detection information in the ultrasonic sensor 2L, and reception of detection information in the ultrasonic sensor 2R. 超音波センサ２Ｌの障害物検知範囲に、警告の必要の無い路面上物体１０２が存在する場合に、左側の超音波センサ２Ｌで超音波の送信を行っている場面の図である。It is a figure of the scene which is transmitting the ultrasonic wave with the ultrasonic sensor 2L on the left side when the object 102 on the road surface which does not need a warning exists in the obstacle detection range of the ultrasonic sensor 2L. 図１１の場面で、各超音波センサ２Ｌ、２Ｒで受信される反射波を例示した図である。It is the figure which illustrated the reflected wave received by each ultrasonic sensor 2L and 2R in the scene of FIG. 第２実施形態の障害物検知処理のフローチャートである。It is a flowchart of the obstacle detection process of 2nd Embodiment. 障害物の横位置の算出方法を説明する図であり、各超音波センサ２Ｌ、２Ｒと障害物１０３とを平面視で表している。It is a figure explaining the calculation method of the horizontal position of an obstruction, and represents each ultrasonic sensor 2L and 2R and obstruction 103 by plane view. 車幅Ｗを超える位置に障害物１０３が存在する場面を示した図である。It is the figure which showed the scene where the obstruction 103 exists in the position exceeding the vehicle width W. FIG.

（第１実施形態）
以下、本発明に係る障害物検知装置の第１実施形態を図面を参照しながら説明する。図１は本実施形態の障害物検知装置１の構成を示したブロック図である。その障害物検知装置１は車両９（図２参照）に搭載されている。障害物検知装置１は、超音波センサ２と警告部４とそれらと接続したＥＣＵ１０とを備えている。 (First embodiment)
Hereinafter, a first embodiment of an obstacle detection device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of an obstacle detection apparatus 1 according to the present embodiment. The obstacle detection device 1 is mounted on a vehicle 9 (see FIG. 2). The obstacle detection device 1 includes an ultrasonic sensor 2, a warning unit 4, and an ECU 10 connected thereto.

超音波センサ２は、車両９の車体面に搭載されて、周囲に所定周波数（例えば４５ｋＨｚ）の超音波を送信し、その超音波が障害物に当たって反射した反射波を受信して、その反射波に基づき障害物までの距離を算出する測距センサである。図２、図３は、超音波センサ２の搭載位置等を説明するための図であり、図２は車両９を横から見た図、図３は車両９を上から見た図を示している。図２、図３に示すように、超音波センサ２は、車両９のフロント面９１（例えば前部バンパー）に搭載されている。なお、超音波センサ２は車両９のリア面に搭載されていたとしても良い。   The ultrasonic sensor 2 is mounted on the vehicle body surface of the vehicle 9, transmits ultrasonic waves having a predetermined frequency (for example, 45 kHz) to the surroundings, receives a reflected wave reflected by the ultrasonic wave hitting an obstacle, and receives the reflected wave. It is a distance measuring sensor that calculates the distance to the obstacle based on. 2 and 3 are diagrams for explaining the mounting position and the like of the ultrasonic sensor 2. FIG. 2 is a view of the vehicle 9 as viewed from the side, and FIG. 3 is a view of the vehicle 9 as viewed from above. Yes. As shown in FIGS. 2 and 3, the ultrasonic sensor 2 is mounted on a front surface 91 (for example, a front bumper) of the vehicle 9. The ultrasonic sensor 2 may be mounted on the rear surface of the vehicle 9.

図３に示すように、超音波センサ２は、車両９の中心線８に対して対称位置に搭載された２つの超音波センサ２Ｌ、２Ｒを含む。それら超音波センサ２Ｌ、２Ｒはそれぞれ車両９の前方に超音波を送信する。つまり、各超音波センサ２Ｌ、２Ｒの障害物検知範囲３１は車両９の前方に設定されている。   As shown in FIG. 3, the ultrasonic sensor 2 includes two ultrasonic sensors 2 </ b> L and 2 </ b> R mounted at symmetrical positions with respect to the center line 8 of the vehicle 9. Each of the ultrasonic sensors 2L and 2R transmits an ultrasonic wave in front of the vehicle 9. That is, the obstacle detection range 31 of each ultrasonic sensor 2L, 2R is set in front of the vehicle 9.

図４は、超音波センサ２（超音波センサ２Ｌ、２Ｒ）の内部構成を示したブロック図である。図４に示すように、超音波センサ２は、マイクロフォン（マイク）２１と回路部２０とによって構成される。回路部２０は、ＬＡＮ制御回路２２、マイク駆動回路２３、ゲイン調整回路２４、閾値調整回路２５、比較器２６、距離及びノイズ演算回路２７によって構成されている。   FIG. 4 is a block diagram showing an internal configuration of the ultrasonic sensor 2 (ultrasonic sensors 2L and 2R). As shown in FIG. 4, the ultrasonic sensor 2 includes a microphone (microphone) 21 and a circuit unit 20. The circuit unit 20 includes a LAN control circuit 22, a microphone drive circuit 23, a gain adjustment circuit 24, a threshold adjustment circuit 25, a comparator 26, and a distance and noise calculation circuit 27.

マイク２１は、マイク駆動回路２３からの超音波パルス信号により外部に超音波を送信するとともに、外部からの超音波（障害物からの反射波や外来ノイズ）を受信して、受信した超音波を電気信号（以下、受信信号という）に変換する。   The microphone 21 transmits an ultrasonic wave to the outside by an ultrasonic pulse signal from the microphone drive circuit 23, receives an ultrasonic wave from the outside (a reflected wave from an obstacle or external noise), and receives the received ultrasonic wave. It is converted into an electrical signal (hereinafter referred to as a received signal).

マイク駆動回路２３は、ＬＡＮ制御回路２２を介してＥＣＵ１０から指示されたタイミングで、マイク２１を駆動するため駆動信号（超音波パルス信号）を生成して、その駆動信号をマイク２１へ出力する。   The microphone drive circuit 23 generates a drive signal (ultrasonic pulse signal) for driving the microphone 21 at a timing instructed from the ECU 10 via the LAN control circuit 22, and outputs the drive signal to the microphone 21.

ゲイン調整回路２４は、マイク２１からの受信信号が入力されて、その受信信号を所定倍に増幅し、増幅後の受信信号を比較器２６へ出力する。   The gain adjustment circuit 24 receives the reception signal from the microphone 21, amplifies the reception signal by a predetermined factor, and outputs the amplified reception signal to the comparator 26.

閾値調整回路２５は、障害物検知のための超音波を送信する直前の第１のタイミングにおいてノイズ判定用の閾値を設定し、超音波を送信し反射波を受信した後の第２のタイミングにおいて障害物判定用の閾値を設定する回路である。閾値調整回路２５は、設定した閾値を比較器２６へ出力する。   The threshold adjustment circuit 25 sets a threshold for noise determination at a first timing immediately before transmitting an ultrasonic wave for obstacle detection, and at a second timing after transmitting an ultrasonic wave and receiving a reflected wave. This is a circuit for setting a threshold for obstacle determination. The threshold adjustment circuit 25 outputs the set threshold to the comparator 26.

比較器２６は、受信信号の振幅と閾値の大小比較を行う。具体的には、第１のタイミングにおいては、受信信号の振幅とノイズ判定用の閾値とを比較し、その比較結果を距離及びノイズ演算回路２７へ出力する。第２のタイミングにおいては、受信信号の振幅と障害物判定用の閾値とを比較し、その比較結果を距離及びノイズ演算回路２７へ出力する。   The comparator 26 compares the amplitude of the received signal with the threshold value. Specifically, at the first timing, the amplitude of the received signal is compared with a threshold value for noise determination, and the comparison result is output to the distance and noise calculation circuit 27. At the second timing, the amplitude of the received signal is compared with the threshold value for obstacle determination, and the comparison result is output to the distance and noise calculation circuit 27.

距離及びノイズ演算回路２７は、第１のタイミングにおいては、受信信号の振幅＞閾値となる比較結果が比較器２６から入力された場合に、外来ノイズを検知したと判断し、そのことを示す外来ノイズデータをＬＡＮ制御回路２２へ出力する。また、距離及びノイズ演算回路２７は、第２のタイミングにおいては、受信信号の振幅＞閾値となる比較結果が比較器２６から入力された場合に、超音波の送信開始時から反射波の受信までに要した時間から障害物までの距離を演算し、その距離を示す距離データをＬＡＮ制御回路２２へ出力する。   At the first timing, the distance and noise calculation circuit 27 determines that the external noise has been detected when the comparison result that the amplitude of the received signal> the threshold value is input from the comparator 26, and indicates the external The noise data is output to the LAN control circuit 22. In addition, the distance and noise calculation circuit 27, from the start of transmission of the ultrasonic wave to reception of the reflected wave, when the comparison result that the amplitude of the received signal> the threshold value is input from the comparator 26 at the second timing. The distance to the obstacle is calculated from the time required for the operation, and distance data indicating the distance is output to the LAN control circuit 22.

ＬＡＮ制御回路２２は、ＥＣＵ１０とシリアル通信線（図示外）で接続されており、そのシリアル通信線を介して、ＥＣＵ１０から送信された各種通信フレームを受信する。そして、ＬＡＮ制御回路２２は、例えば、受信した通信フレームに基づくタイミングでマイク駆動回路２３に駆動信号を生成させる、また、ＬＡＮ制御回路２２は、例えば、受信した通信フレームに基づいて第１のタイミングか第２のタイミングかを判断して、閾値調整回路２５にノイズ判定用の閾値と障害物判定用の閾値のどちらを設定するのかを指示する。さらに、ＬＡＮ制御回路２２は、距離及びノイズ演算回路２７から入力された測距データ及び外来ノイズデータをＥＣＵ１０に送信する。   The LAN control circuit 22 is connected to the ECU 10 via a serial communication line (not shown), and receives various communication frames transmitted from the ECU 10 via the serial communication line. Then, the LAN control circuit 22 causes the microphone drive circuit 23 to generate a drive signal, for example, at a timing based on the received communication frame. The LAN control circuit 22 uses the first timing based on the received communication frame, for example. Or the second timing, the threshold adjustment circuit 25 is instructed whether to set a threshold for noise determination or a threshold for obstacle determination. Further, the LAN control circuit 22 transmits distance measurement data and external noise data input from the distance and noise calculation circuit 27 to the ECU 10.

図１の説明に戻り、警告部４は、車室内に設けれ、車両９の乗員に車両９の周囲に障害物が存在することをブザーや表示により警告する。   Returning to the description of FIG. 1, the warning unit 4 is provided in the passenger compartment, and warns a passenger of the vehicle 9 that there is an obstacle around the vehicle 9 by a buzzer or a display.

ＥＣＵ１０は、ＣＰＵ、ＲＯＭ、ＲＡＭ等から構成されたマイコンを主体として構成され、障害物を検知するための障害物検知処理を実行する。また、ＥＣＵ１０はメモリ１１を備え、そのメモリ１１には各超音波センサ２Ｌ、２Ｒ（図３参照）の搭載位置など、障害物検知処理に必要な各種データが記憶されている。   The ECU 10 is mainly composed of a microcomputer including a CPU, a ROM, a RAM, and the like, and executes an obstacle detection process for detecting an obstacle. The ECU 10 also includes a memory 11 that stores various data necessary for obstacle detection processing, such as the mounting positions of the ultrasonic sensors 2L and 2R (see FIG. 3).

次に、ＥＣＵ１０が実行する障害物検知処理の詳細を説明する。図５は、障害物検知処理のフローチャートを示している。図５の処理は、例えば車両９の乗員によって障害物検知を指示するスイッチ（図示外）が車両９の乗員に操作された時に開始する。   Next, details of the obstacle detection process executed by the ECU 10 will be described. FIG. 5 shows a flowchart of the obstacle detection process. The process of FIG. 5 is started when, for example, a switch (not shown) for instructing obstacle detection is operated by an occupant of the vehicle 9 by the occupant of the vehicle 9.

図５の処理を開始すると、先ず、各超音波センサ２Ｌ、２Ｒに、外来ノイズの検知を行わせる（Ｓ１１）。具体的には、外来のノイズの検知を指示する通信フレーム（上記第１のタイミングであることを通知する通信フレーム）を各超音波センサ２Ｌ、２Ｒに送信する。各超音波センサ２Ｌ、２Ｒは、その通信フレームを受信すると、マイク２１で超音波ノイズ（外来ノイズ）をモニターし、ノイズ判定用の閾値を超えた受信信号を受信した場合には、外来ノイズが検知されたとして、外来ノイズデータをＥＣＵ１０に送信する。   When the processing of FIG. 5 is started, first, the ultrasonic sensors 2L and 2R are caused to detect external noise (S11). Specifically, a communication frame (communication frame notifying that it is the first timing) instructing detection of extraneous noise is transmitted to each of the ultrasonic sensors 2L and 2R. When each ultrasonic sensor 2L, 2R receives the communication frame, the ultrasonic noise (external noise) is monitored by the microphone 21. When a reception signal exceeding the noise determination threshold is received, the external noise is detected. As detected, the external noise data is transmitted to the ECU 10.

次に、２つの超音波センサ２Ｌ、２Ｒのどちらか一方に超音波を送信させる（Ｓ１２）。図６は、車両９のフロント面９１の周囲を示した図であり、左側の超音波センサ２Ｌで超音波の送信を行っている場面を示している。図６では、超音波センサ２Ｌの超音波送信範囲（障害物検知範囲）に障害物１１０が存在する例を示している。超音波センサ２Ｌから送信された超音波７１は障害物１１０で反射して、その反射波７２１が超音波センサ２Ｌで受信される。また、右側の超音波センサ２Ｒは超音波を送信していないものの、超音波７１が障害物１１０で反射波した反射波７２２を受信する。なお、図６〜図１２、図１３では、超音波センサ２Ｌを「ＦＬＣ」、超音波センサ２Ｒを「ＦＲＣ」で記している。   Next, an ultrasonic wave is transmitted to one of the two ultrasonic sensors 2L and 2R (S12). FIG. 6 is a view showing the periphery of the front surface 91 of the vehicle 9, and shows a scene in which ultrasonic waves are transmitted by the left ultrasonic sensor 2L. FIG. 6 shows an example in which the obstacle 110 exists in the ultrasonic transmission range (obstacle detection range) of the ultrasonic sensor 2L. The ultrasonic wave 71 transmitted from the ultrasonic sensor 2L is reflected by the obstacle 110, and the reflected wave 721 is received by the ultrasonic sensor 2L. Further, although the ultrasonic sensor 2R on the right side does not transmit ultrasonic waves, the ultrasonic wave 71 receives the reflected wave 722 reflected by the obstacle 110. In FIGS. 6 to 12 and 13, the ultrasonic sensor 2 </ b> L is indicated by “FLC”, and the ultrasonic sensor 2 </ b> R is indicated by “FRC”.

次に、Ｓ１１の処理で超音波センサ２Ｌ、２Ｒのうちの１つでも外来ノイズを検知したか否かを判断する（Ｓ１３）。超音波センサ２Ｌのみ外来ノイズを検知した場合、超音波センサ２Ｒのみ外来ノイズを検知した場合又は両方の超音波センサ２Ｌ、２Ｒが外来ノイズを検知した場合には（Ｓ１３：Ｙｅｓ）、Ｓ１４に移行し、両方の超音波センサ２Ｌ、２Ｒの受信信号（障害物の検知情報）を無効とする。つまり、各超音波センサ２Ｌ、２Ｒから距離データが送られてきたとしても、その距離データを無効とする。   Next, it is determined whether or not external noise has been detected in any one of the ultrasonic sensors 2L and 2R in the process of S11 (S13). When the external noise is detected only by the ultrasonic sensor 2L, when the external noise is detected only by the ultrasonic sensor 2R, or when both the ultrasonic sensors 2L and 2R detect the external noise (S13: Yes), the process proceeds to S14. The reception signals (obstacle detection information) of both ultrasonic sensors 2L and 2R are invalidated. That is, even if distance data is sent from each of the ultrasonic sensors 2L and 2R, the distance data is invalidated.

図７、図８は、送信した超音波及び受信した反射波を時間軸上で表した図であり、詳細には図７（Ａ）、図８（Ａ）は、超音波センサ２Ｌが送信した超音波７１及び受信した反射波７２１を示しており、図７（Ｂ）、図８（Ｂ）は、超音波センサ２Ｒが受信した反射波７２２を示している。また、図７、図８は、超音波７１の送信前の外来ノイズの判定期間５を図示している。図７は、判定期間５において超音波センサ２Ｒのみで外来ノイズが検知された場合を示し、図８は判定期間５において超音波センサ２Ｌのみで外来ノイズが検知された場合を示している。   FIGS. 7 and 8 are diagrams showing the transmitted ultrasonic waves and the received reflected waves on the time axis. Specifically, FIGS. 7A and 8A are transmitted by the ultrasonic sensor 2L. The ultrasonic wave 71 and the received reflected wave 721 are shown, and FIGS. 7B and 8B show the reflected wave 722 received by the ultrasonic sensor 2R. FIGS. 7 and 8 illustrate an external noise determination period 5 before transmission of the ultrasonic wave 71. FIG. 7 shows a case where the external noise is detected only by the ultrasonic sensor 2R in the determination period 5, and FIG. 8 shows a case where the external noise is detected only by the ultrasonic sensor 2L in the determination period 5.

図７に示すように、超音波センサ２Ｒのみで外来ノイズが検知された場合には（Ｓ１３：Ｙｅｓ）、反射波７２１、７２２の振幅が閾値６を超えていたとしても、反射波７２１、７２２（障害物の検知情報）は両方とも無効にされる（Ｓ１４）。また、図８に示すように、超音波センサ２Ｌのみで外来ノイズが検知された場合にも（Ｓ１３：Ｙｅｓ）、反射波７２１、７２２（障害物の検知情報）は両方とも無効にされる（Ｓ１４）。このように、片方の超音波センサ２だけでも外来ノイズが検知されたということは、その後に受信された反射波７２１、７２２にも外来ノイズが含んでいる可能性がある。そして、それら反射波７２１、７２２から距離を算出すると、実際には存在しない障害物を誤検知したり、障害物が存在するがその障害物までの距離を誤演算したりする可能性がある。Ｓ１４では、障害物の検知情報を両方とも無効としているので、耐ノイズ性を向上して、障害物の誤検知、距離の誤演算を防止できる。   As shown in FIG. 7, when the external noise is detected only by the ultrasonic sensor 2R (S13: Yes), even if the amplitude of the reflected waves 721 and 722 exceeds the threshold value 6, the reflected waves 721 and 722 are detected. Both (obstacle detection information) are invalidated (S14). Further, as shown in FIG. 8, even when the external noise is detected only by the ultrasonic sensor 2L (S13: Yes), both the reflected waves 721 and 722 (obstacle detection information) are invalidated ( S14). As described above, the fact that the external noise is detected by only one of the ultrasonic sensors 2 means that the reflected waves 721 and 722 received thereafter may also include the external noise. If the distance is calculated from the reflected waves 721 and 722, an obstacle that does not actually exist may be erroneously detected, or an obstacle may exist but the distance to the obstacle may be erroneously calculated. In S14, both obstacle detection information is invalidated, so that noise resistance can be improved and erroneous detection of obstacles and erroneous calculation of distance can be prevented.

一方、Ｓ１３において、超音波センサ２Ｌ、２Ｒの両方とも外来ノイズが検知されなかった場合には（Ｓ１３：Ｎｏ）、Ｓ１５に移行する。そして、超音波センサ２Ｌ、２Ｒの両方に問い合わせて、超音波センサ２Ｌ、２Ｒの両方で、閾値を超える振幅の反射波（障害物の検知情報）を受信したか否かを判断する（Ｓ１５）。ここで、図９は、図７、図８と同様の図であり、詳細には、超音波センサ２Ｌ、２Ｒの両方とも外来ノイズの判定期間５で外来ノイズが検知されず、超音波センサ２Ｌ、２Ｒの両方とも閾値６を超える反射波７２１、７２２を受信した例を示している。図９のように、両方の超音波センサ２Ｌ、２Ｒで障害物の検知情報（閾値を超える反射波）を受信した場合には（Ｓ１５：Ｙｅｓ）、Ｓ１６に移行し、障害物の検知有りと判断する。この場合、例えば超音波を送信した超音波センサ２から距離データを取得して、その距離データに応じて警告部４（図１参照）で警告を行わせる（Ｓ１６）。具体的には、例えば、距離が短い場合には連続のブザー音、長い場合には断続のブザー音というように、距離が短くなるほど警告の度合いを強くする。   On the other hand, when no external noise is detected in both the ultrasonic sensors 2L and 2R in S13 (S13: No), the process proceeds to S15. Then, both the ultrasonic sensors 2L and 2R are inquired, and it is determined whether or not the reflected waves (obstacle detection information) having an amplitude exceeding the threshold value are received by both of the ultrasonic sensors 2L and 2R (S15). . Here, FIG. 9 is a diagram similar to FIG. 7 and FIG. 8. Specifically, both the ultrasonic sensors 2L and 2R do not detect the external noise in the external noise determination period 5, and the ultrasonic sensor 2L. 2R shows an example in which reflected waves 721 and 722 exceeding the threshold 6 are received. As shown in FIG. 9, when obstacle detection information (reflected wave exceeding the threshold value) is received by both ultrasonic sensors 2L and 2R (S15: Yes), the process proceeds to S16 and the obstacle is detected. to decide. In this case, for example, distance data is acquired from the ultrasonic sensor 2 that has transmitted ultrasonic waves, and a warning is issued by the warning unit 4 (see FIG. 1) according to the distance data (S16). Specifically, for example, when the distance is short, a continuous buzzer sound, and when the distance is long, an intermittent buzzer sound is used.

Ｓ１５において、超音波センサ２Ｌのみが閾値を超えた反射波（検知情報）を受信した場合、超音波センサ２Ｒのみが閾値を超えた反射波を受信した場合、又は超音波センサ２Ｌ、２Ｒの両方とも閾値を超えた反射波を受信できなかった場合には（Ｓ１５：Ｎｏ）、Ｓ１７に移行して、障害物非検知と判断する。   In S15, when only the ultrasonic sensor 2L receives a reflected wave (detection information) exceeding the threshold, when only the ultrasonic sensor 2R receives a reflected wave exceeding the threshold, or both of the ultrasonic sensors 2L and 2R In both cases, when the reflected wave exceeding the threshold value cannot be received (S15: No), the process proceeds to S17 and it is determined that the obstacle is not detected.

ここで、図１０は、図７〜図９と同様の図であり、Ｓ１７で障害物非検知と判断される態様を例示している。詳細には、図１０は、超音波センサ２Ｌ、２Ｒの両方とも外来ノイズの判定期間５で外来ノイズが検知されず、超音波センサ２Ｌでは反射波は受信されず、超音波センサ２Ｒでは閾値６を超える反射波７２２を受信した例を示している。超音波７１を送信した超音波センサ２Ｌで反射波を受信していないということは、実際には障害物１１０（図６参照）は存在しない可能性が高い。それにかかわず、超音波センサ２Ｒで反射波７２２を受信したということは、その反射波７２２は外来ノイズである可能性が高い。そこで、この場合には、障害物非検知と判断され（Ｓ１７）、警告は行われない。これによって、判定期間５で外来ノイズを検知できなかったとしても、超音波の送信後に外来ノイズを検知でき、耐ノイズ性を向上できる。   Here, FIG. 10 is a diagram similar to FIGS. 7 to 9, and illustrates an aspect in which it is determined that the obstacle is not detected in S <b> 17. Specifically, FIG. 10 shows that both the ultrasonic sensors 2L and 2R do not detect external noise in the external noise determination period 5, the ultrasonic sensor 2L receives no reflected wave, and the ultrasonic sensor 2R has a threshold value 6 The example which received the reflected wave 722 exceeding 1 is shown. The fact that the reflected wave is not received by the ultrasonic sensor 2L that has transmitted the ultrasonic wave 71 is highly likely that the obstacle 110 (see FIG. 6) does not actually exist. Nevertheless, the fact that the reflected wave 722 is received by the ultrasonic sensor 2R is highly likely that the reflected wave 722 is external noise. Therefore, in this case, it is determined that no obstacle is detected (S17), and no warning is given. Thereby, even if the external noise cannot be detected in the determination period 5, the external noise can be detected after the transmission of the ultrasonic wave, and the noise resistance can be improved.

図１１、図１２は、Ｓ１７で障害物非検知と判断される別の態様を例示している。詳細には、図１１は、図６と同様の図であり、超音波センサ２Ｌの超音波送信範囲（障害物検知範囲）に、警告の必要の無い路面上物体１０２が存在する場面を示している。その路面上物体１０２は、車両９が乗り越え可能な低い段差（数ｃｍ程度の高さの段差）や、道路区画線の中央線上に設置されて夜間の視認性向上のために反射材を組み込んだチャッターバー（キャッツアイともいう）などを想定している。路面上物体１０２は、検知する必要がある障害物（他車や人間など）に比べて、フラットな面１０２ａ（図２も参照）を有している場合が多い。図１１の例では、フラットな面１０２ａが、超音波センサ２Ｌ側に向いた例を示している。   11 and 12 illustrate another mode in which it is determined that no obstacle is detected in S17. Specifically, FIG. 11 is a diagram similar to FIG. 6, and shows a scene in which an object 102 on the road surface that does not require a warning exists in the ultrasonic transmission range (obstacle detection range) of the ultrasonic sensor 2 </ b> L. Yes. The object 102 on the road surface is installed on a low step (a step having a height of about several centimeters) on which the vehicle 9 can get over, or on the center line of the road marking line, and incorporates a reflective material to improve night visibility. A chatter bar (also called cat's eye) is assumed. In many cases, the object 102 on the road surface has a flat surface 102a (see also FIG. 2) compared to an obstacle (such as another vehicle or a human) that needs to be detected. In the example of FIG. 11, an example is shown in which the flat surface 102a faces the ultrasonic sensor 2L side.

図１２は、図１１の場面での、送信した超音波及び受信した反射波を時間軸上で表した図であり、詳細には図１２（Ａ）は超音波センサ２Ｌが送信した超音波７１及び受信した反射波７２３を示しており、図１２（Ｂ）は、超音波センサ２Ｒが受信した反射波７２４を示している。図１１に示すように、路面上物体１０２の面１０２ａは超音波センサ２Ｌ側に向いているので、送信された超音波７１は主に超音波センサ２Ｌ側に反射する。そのため、図１２（Ａ）に示すように、超音波センサ２Ｌでは閾値６を超えた反射波７２３（障害物の検知情報）が受信される。これに対し、図１２（Ｂ）に示すように、超音波センサ２Ｒでは閾値６未満の反射波７２４しか受信されず、又は反射波は受信されない。なお、面１０２ａが超音波センサ２Ｒ側に向いていた場合には、超音波センサ２Ｒでは閾値を超えた反射波が受信され、超音波センサ２Ｌでは閾値未満の反射波しか受信されず、又は反射波は受信されない。   FIG. 12 is a diagram showing the transmitted ultrasonic waves and the received reflected waves on the time axis in the scene of FIG. 11, and FIG. 12A shows in detail the ultrasonic waves 71 transmitted by the ultrasonic sensor 2L. The received reflected wave 723 is shown, and FIG. 12B shows the reflected wave 724 received by the ultrasonic sensor 2R. As shown in FIG. 11, since the surface 102a of the object 102 on the road surface is directed to the ultrasonic sensor 2L side, the transmitted ultrasonic wave 71 is mainly reflected to the ultrasonic sensor 2L side. Therefore, as shown in FIG. 12A, the ultrasonic wave sensor 2L receives the reflected wave 723 (obstacle detection information) that exceeds the threshold value 6. On the other hand, as shown in FIG. 12B, the ultrasonic sensor 2R receives only the reflected wave 724 less than the threshold 6 or receives no reflected wave. When the surface 102a faces the ultrasonic sensor 2R, the ultrasonic sensor 2R receives a reflected wave that exceeds the threshold, and the ultrasonic sensor 2L receives only a reflected wave that is less than the threshold or reflects Waves are not received.

このように、送信した超音波が路面にまで及んでいる場合に、一方の超音波センサ２のみが閾値を超えた反射波（障害物の検知情報）を受信した場合には、その反射波は路面上物体からの反射波である可能性が高い。この場合には、超音波センサ２から障害物の距離データが送られてきたとしても、障害物非検知と判断され（Ｓ１７）、警告は行われない。これによって、路面上物体の誤検知を防止できる。また、その誤検知を防止するために、超音波の送信出力を下げたり閾値を上げたり必要がないので、障害物検知範囲の低下を防止できる。   In this way, when the transmitted ultrasonic waves reach the road surface, when only one ultrasonic sensor 2 receives a reflected wave (obstacle detection information) exceeding the threshold, the reflected wave is There is a high possibility that it is a reflected wave from an object on the road surface. In this case, even if obstacle distance data is sent from the ultrasonic sensor 2, it is determined that no obstacle is detected (S17), and no warning is given. Thereby, erroneous detection of an object on the road surface can be prevented. Further, since it is not necessary to lower the ultrasonic transmission output or raise the threshold value in order to prevent the erroneous detection, it is possible to prevent the obstacle detection range from being lowered.

Ｓ１４、Ｓ１６、又はＳ１７の後、Ｓ１８に移行し、障害物検知を終了するか否かを判断する。具体的には、例えば、障害物検知の終了する指示するスイッチ（図示外）が車両９の乗員によって操作された場合や、車両９のエンジンが停止された場合に、障害物検知を終了すると判断する。   After S14, S16, or S17, the process proceeds to S18, and it is determined whether or not to stop the obstacle detection. Specifically, for example, when a switch (not shown) for instructing to end obstacle detection is operated by an occupant of the vehicle 9 or when the engine of the vehicle 9 is stopped, it is determined that the obstacle detection is to be ended. To do.

障害物検知を継続する場合には（Ｓ１８：Ｎｏ）、Ｓ１１に戻り、上述のＳ１１〜Ｓ１７を実行する。障害物検知を終了する場合には（Ｓ１８：Ｙｅｓ）、図５のフローチャートの処理を終了する。   When the obstacle detection is continued (S18: No), the process returns to S11, and the above-described S11 to S17 are executed. When the obstacle detection is finished (S18: Yes), the process of the flowchart of FIG. 5 is finished.

以上説明したように、本実施形態によれば、片方の超音波センサで外来ノイズが検知された場合には、両方の超音波センサの検知情報を無効とするので、外来ノイズを検知した超音波センサの検知情報だけを無効とする場合に比べて、耐ノイズ性を向上できる。また、両方の超音波センサが障害物検知したときのみ警告が行われるので、外来ノイズや路面上物体によって警告が行われるのを防止できる。   As described above, according to the present embodiment, when the external noise is detected by one of the ultrasonic sensors, the detection information of both ultrasonic sensors is invalidated. Noise resistance can be improved compared to the case where only the detection information of the sensor is invalidated. Further, since the warning is performed only when both of the ultrasonic sensors detect the obstacle, it is possible to prevent the warning from being performed due to external noise or an object on the road surface.

（第２実施形態）
次に、本発明に係る障害物検知装置の第２実施形態を第１実施形態と異なる部分を中心にして説明する。本実施形態の障害物検知装置の構成は第１実施形態の構成（図１）と同じである。ＥＣＵ１０が実行する障害物検知処理が、第１実施形態のそれと多少異なっている。 (Second Embodiment)
Next, a second embodiment of the obstacle detection apparatus according to the present invention will be described with a focus on differences from the first embodiment. The configuration of the obstacle detection device of the present embodiment is the same as the configuration of the first embodiment (FIG. 1). The obstacle detection process executed by the ECU 10 is slightly different from that of the first embodiment.

図１３は、本実施形態の障害物検知処理のフローチャートを示している。なお、図１３において、図５と同じ処理には同一符号を付している。図１３の処理は、Ｓ１５１、Ｓ１５２の処理が追加されている点以外は図５の処理と同じである。すなわち、両方の超音波センサ２Ｌ、２Ｒが障害物の検知情報（閾値を超える反射波）を受信した場合には（Ｓ１５：Ｙｅｓ）、Ｓ１５１に移行する。Ｓ１５１では、各超音波センサ２Ｌ、２Ｒの検知情報に基づいて、障害物の、車幅方向における位置（横位置、図１５参照）を算出する。   FIG. 13 shows a flowchart of the obstacle detection process of the present embodiment. In FIG. 13, the same processes as those in FIG. The process of FIG. 13 is the same as the process of FIG. 5 except that the processes of S151 and S152 are added. That is, when both the ultrasonic sensors 2L and 2R receive the obstacle detection information (reflected wave exceeding the threshold) (S15: Yes), the process proceeds to S151. In S151, the position (lateral position, see FIG. 15) of the obstacle in the vehicle width direction is calculated based on the detection information of the ultrasonic sensors 2L and 2R.

ここで、図１４は、障害物の横位置の算出方法を説明する図であり、詳細には、各超音波センサ２Ｌ、２Ｒと障害物１０３とを平面視で表している。Ｓ１５１では、例えば、２つの超音波センサ２Ｌ、２Ｒの中点を原点Ｏとし、原点Ｏを通り超音波センサ２Ｌ、２Ｒを通る直線をＸ軸とし、そのＸ軸に垂直な直線をＹ軸とした座標系を設定し、その座標系における障害物１０３のＸ座標を横位置として算出する。具体的には、超音波センサ２Ｌによる検知と、超音波センサ２Ｒによる検知とで同一の反射点Ｒ（ｘ、ｙ）で超音波が反射すると仮定して、超音波センサ２Ｌが検知した距離Ｌ１、超音波センサ２Ｒが検知した距離Ｌ２及び超音波センサ２Ｌ、２Ｒの間隔２ｐに基づいて、三角測量の原理により、障害物１０３の横位置（Ｘ座標）を算出する。間隔２ｐは、メモリ１１に記憶された超音波センサ２Ｌの搭載位置Ｐ（−ｐ、０）と、超音波センサ２Ｒの搭載位置Ｑ（ｐ、０）とから求めることができる。 Here, FIG. 14 is a diagram for explaining a method of calculating the lateral position of the obstacle, and more specifically, the ultrasonic sensors 2L and 2R and the obstacle 103 are shown in plan view. In S151, for example, the midpoint between the two ultrasonic sensors 2L and 2R is the origin O, the straight line passing through the origin O and passing through the ultrasonic sensors 2L and 2R is the X axis, and the straight line perpendicular to the X axis is the Y axis. The coordinate system is set, and the X coordinate of the obstacle 103 in the coordinate system is calculated as the horizontal position. Specifically, the distance L detected by the ultrasonic sensor 2L on the assumption that the ultrasonic wave is reflected at the same reflection point R (x, y) by the detection by the ultrasonic sensor 2L and the detection by the ultrasonic sensor 2R. 1, the distance L 2 and ultrasonic sensor 2L ultrasonic sensor 2R detects, based on the interval 2p of 2R, the principle of triangulation to calculate the lateral position of the obstacle 103 (X-coordinate). The interval 2p can be obtained from the mounting position P (−p, 0) of the ultrasonic sensor 2L stored in the memory 11 and the mounting position Q (p, 0) of the ultrasonic sensor 2R.

ＥＣＵ１０は、超音波センサ２Ｌが超音波を送信してから超音波センサ２Ｌが反射波を受信するまでに要した時間ｔｐｐを、超音波センサ２Ｌから取得する。同様に、ＥＣＵ１０は、超音波センサ２Ｌが超音波を送信してから超音波センサ２Ｒが反射波を受信するまでに要した時間ｔｐｑを、超音波センサ２Ｒから取得する。そして、それら時間ｔｐｐ、ｔｐｑと超音波の速度ｖ（音速）とから、以下の式１、式２により、距離Ｌ１、Ｌ２を算出できる。
２Ｌ１＝ｖｔｐｐ ・・・（式１）
Ｌ１＋Ｌ２＝ｖｔｐｑ・・・（式２） The ECU 10 acquires, from the ultrasonic sensor 2L, the time t pp required from when the ultrasonic sensor 2L transmits the ultrasonic wave until the ultrasonic sensor 2L receives the reflected wave. Similarly, the ECU 10 acquires, from the ultrasonic sensor 2R, a time tpq required from the ultrasonic sensor 2L transmitting the ultrasonic wave until the ultrasonic sensor 2R receives the reflected wave. Then, the distances L 1 and L 2 can be calculated from the times t pp and t pq and the ultrasonic velocity v (sound velocity) by the following equations 1 and 2.
2L 1 = vt pp (Formula 1)
L 1 + L 2 = vt pq (Expression 2)

なお、式１は図１４の点Ｐ→点Ｒ→点Ｐの経路長に相当する。式２は図１４の点Ｐ→点Ｒ→点Ｑの経路長に相当する。このように、距離Ｌ１、Ｌ２、間隔２ｐが求まるので、それらから構成される三角形から点ＲのＸ座標、つまり障害物１０３の横位置を求めることができる。具体的には、横位置ｘは以下の式３で表される。結局、式３を予め記憶しておけば、時間ｔｐｐ、ｔｐｑ、間隔２ｐ、音速ｖだけで横位置ｘを求めることができる。
ｘ＝ｖ２ｔｐｑ（ｔｐｐ−ｔｐｑ）／４ｐ ・・・（式３） Equation 1 corresponds to the path length of point P → point R → point P in FIG. Equation 2 corresponds to the path length of point P → point R → point Q in FIG. Since the distances L1 and L2 and the interval 2p are obtained in this way, the X coordinate of the point R, that is, the lateral position of the obstacle 103 can be obtained from the triangle composed of them. Specifically, the lateral position x is expressed by the following Equation 3. After all, if Equation 3 is stored in advance, the lateral position x can be obtained only by the times t pp , t pq , the interval 2 p, and the sound velocity v.
x = v 2 t pq (t pp −t pq ) / 4p (Expression 3)

Ｓ１５１で障害物の横位置を算出した後、Ｓ１５２に移行し、その横位置が車両９の車幅以内の位置であるか否かを判断する。具体的には、図１５に示すように、車幅をＷとしたとき、横位置ｘが、−Ｗ／２≦ｘ≦Ｗ／２の範囲に入っているか否かを判断する（Ｓ１５２）。横位置ｘが、−Ｗ／２＜ｘ＜Ｗ／２の範囲に入っている場合、つまり横位置が車幅以内の位置の場合には（Ｓ１５２：Ｙｅｓ）、Ｓ１６に移行し、障害物の検知有りと判断して警告を行う。   After the lateral position of the obstacle is calculated in S151, the process proceeds to S152, and it is determined whether or not the lateral position is within the vehicle width of the vehicle 9. Specifically, as shown in FIG. 15, when the vehicle width is W, it is determined whether or not the lateral position x is in a range of −W / 2 ≦ x ≦ W / 2 (S152). When the lateral position x is in the range of −W / 2 <x <W / 2, that is, when the lateral position is within the vehicle width (S152: Yes), the process proceeds to S16, and the obstacle It judges that there is a detection and gives a warning.

これに対し、横位置ｘが、ｘ＜−Ｗ／２又はｘ＞Ｗ／２の場合、つまり横位置が車幅を超えた位置の場合には（Ｓ１５２：Ｎｏ）、Ｓ１７に移行し、車両９に接触する可能性が低いとして、障害物非検知と判断する。図１５の例では、障害物１０３は車幅Ｗを超えた位置にあるので、障害物非検知と判断され警告は行われない。   On the other hand, when the lateral position x is x <−W / 2 or x> W / 2, that is, when the lateral position exceeds the vehicle width (S152: No), the process proceeds to S17, and the vehicle It is determined that the obstacle is not detected because the possibility of touching 9 is low. In the example of FIG. 15, since the obstacle 103 is at a position beyond the vehicle width W, it is determined that no obstacle is detected and no warning is given.

以上説明したように、本実施形態では、第１実施形態の効果に加えて、車幅を超えた位置に存在する障害物の誤検知も防止できる。また、その誤検知を防止するために、超音波の送信出力を下げたり閾値を上げたりする必要がないので、障害物検知範囲の低下を防止できる。   As described above, in this embodiment, in addition to the effects of the first embodiment, it is possible to prevent erroneous detection of an obstacle present at a position beyond the vehicle width. Further, since it is not necessary to lower the ultrasonic transmission output or raise the threshold value in order to prevent the erroneous detection, it is possible to prevent the obstacle detection range from being lowered.

なお、本発明に係る障害物検知装置は上記実施形態に限定されるものではなく、特許請求の範囲の記載を逸脱しない限度で種々の変更が可能である。例えば、３つ以上の超音波センサを用いて、検知情報の無効、障害物検知、非検知を判断しても良い。具体的には、３つ以上の超音波センサの１つでも外来ノイズを検知した場合には、全ての検知情報を無効とする。また、３つ以上の超音波センサの全てが閾値を超える反射波を受信した場合にのみ障害物検知と判断し、それ以外は障害物非検知と判断する。これにより、より一層、耐ノイズ性を向上でき、誤検知を防止できる。また、本発明は、レーザレーダ、ミリ波レーダなど、探査波として光波や電波を送信する測距センサを用いた障害物検知装置にも適用できる。   The obstacle detection device according to the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the scope of the claims. For example, three or more ultrasonic sensors may be used to determine invalidity of detection information, obstacle detection, or non-detection. Specifically, when any one of the three or more ultrasonic sensors detects external noise, all the detection information is invalidated. Further, it is determined that the obstacle is detected only when all of the three or more ultrasonic sensors receive the reflected wave exceeding the threshold value, and it is determined that the obstacle is not detected otherwise. Thereby, noise resistance can be further improved and erroneous detection can be prevented. The present invention can also be applied to an obstacle detection device using a distance measuring sensor that transmits a light wave or a radio wave as an exploration wave, such as a laser radar or a millimeter wave radar.

１ 障害物検知装置
２、２Ｌ、２Ｒ 超音波センサ
２７ 距離及びノイズ演算回路
４ 警告部
９ 車両
１０ ＥＣＵ
１０２ 路面上物体
１０３、１１０ 障害物 DESCRIPTION OF SYMBOLS 1 Obstacle detection apparatus 2, 2L, 2R Ultrasonic sensor 27 Distance and noise calculation circuit 4 Warning part 9 Vehicle 10 ECU
102 object on road surface 103, 110 obstacle

Claims (4)

車両（９）に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を障害物の検知情報として受信するとともに、外来ノイズを検知するノイズ検知手段（２７）を備えた複数の障害物検知手段（２Ｌ、２Ｒ）と、
少なくとも１つの前記障害物検知手段の前記ノイズ検知手段が外来ノイズを検知した場合に全ての前記障害物検知手段の前記検知情報を無効とする検知無効手段（Ｓ１３、Ｓ１４）と、
を備えることを特徴とする障害物検知装置（１）。 A noise detection means (27) mounted on the vehicle (9) for transmitting an exploration wave around the vehicle and receiving the reflected wave reflected by the exploration wave as it hits the obstacle as obstacle detection information and detecting external noise. A plurality of obstacle detection means (2L, 2R) provided with
Detection invalidation means (S13, S14) for invalidating the detection information of all the obstacle detection means when the noise detection means of at least one obstacle detection means detects external noise;
An obstacle detection device (1) comprising: 車両（９）に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を障害物の検知情報として受信するとともに、前記検知情報の振幅が所定の閾値を超えるか否かを判断する複数の障害物検知手段であって、いずれか１つの前記障害物検知手段が前記探査波を送信したときに、前記探査波を送信した前記障害物検知手段以外の前記障害物検知手段でも前記検知情報を受信できる位置に搭載された複数の障害物検知手段（２Ｌ、２Ｒ）と、
いずれか１つの前記障害物検知手段が前記探査波を送信したときに、前記複数の障害物検知手段の少なくとも１つが前記検知情報を受信していない又は前記閾値未満の前記検知情報しか受信していない場合には、前記閾値を超えた前記検知情報を受信した前記障害物検知手段があったとしても障害物非検知と判定する非検知判定手段（Ｓ１５、Ｓ１７）と、
を備えることを特徴とする障害物検知装置（１）。 An exploration wave mounted on the vehicle (9) is transmitted to the surroundings of the vehicle, and a reflected wave reflected by the exploration wave hitting an obstacle is received as obstacle detection information. The amplitude of the detection information has a predetermined threshold value. A plurality of obstacle detection means for determining whether or not the obstacle detection means, when any one of the obstacle detection means transmits the exploration wave, the obstacle detection means other than the obstacle detection means that transmitted the exploration wave A plurality of obstacle detection means (2L, 2R) mounted at a position where the obstacle detection means can receive the detection information;
When any one of the obstacle detection means transmits the exploration wave, at least one of the plurality of obstacle detection means has not received the detection information or has received only the detection information less than the threshold. If not, even if there is the obstacle detection means that has received the detection information that exceeds the threshold, non-detection determination means (S15, S17) to determine that the obstacle is not detected,
An obstacle detection device (1) comprising: 車両（９）のフロント面（９１）又はリア面に搭載されて前記車両の周囲に探査波を送信し前記探査波が障害物に当たって反射した反射波を受信してその反射波に基づき障害物までの距離を算出する２つの障害物検知手段であって、一方の前記障害物検知手段が前記探査波を送信したときに、他方の前記障害物検知手段でも前記反射波を受信できる位置に搭載された２つの障害物検知手段（２Ｌ、２Ｒ）と、
一方の前記距離検知手段が前記探査波を送信したときの前記２つの障害物検知手段が検知した２つの前記距離と、前記２つの距離検知手段の間隔とに基づいて、三角測量の原理により、障害物の、前記車両の車幅方向における位置である横位置を算出する位置算出手段（Ｓ１５１）と、
前記横位置が前記車両の車幅を超えた位置の場合に障害物非検知と判定する非検知判定手段（Ｓ１５２、Ｓ１６）と、
を備えることを特徴とする障害物検知装置（１）。 Mounted on the front surface (91) or rear surface of the vehicle (9), transmits an exploration wave around the vehicle, receives the reflected wave reflected by the exploration wave and hits the obstacle, and based on the reflected wave to the obstacle Two obstacle detection means for calculating the distance of the obstacle, and when one of the obstacle detection means transmits the exploration wave, the other obstacle detection means is mounted at a position where the reflected wave can be received. Two obstacle detection means (2L, 2R),
Based on the principle of triangulation based on the two distances detected by the two obstacle detection means when one of the distance detection means transmits the exploration wave, and the interval between the two distance detection means, Position calculating means (S151) for calculating the lateral position of the obstacle in the vehicle width direction of the vehicle;
Non-detection determining means (S152, S16) for determining that the obstacle is not detected when the lateral position exceeds the vehicle width of the vehicle;
An obstacle detection device (1) comprising: 前記障害物検知手段は、前記探査波として超音波を送信することを特徴とする請求項１〜３のいずれか１項に記載の障害物検知装置。
The obstacle detection device according to claim 1, wherein the obstacle detection unit transmits an ultrasonic wave as the exploration wave.
JP2012238203A 2012-10-29 2012-10-29 Obstacle detection device Active JP6089585B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012238203A JP6089585B2 (en) 2012-10-29 2012-10-29 Obstacle detection device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012238203A JP6089585B2 (en) 2012-10-29 2012-10-29 Obstacle detection device

Publications (2)

Publication Number Publication Date
JP2014089077A true JP2014089077A (en) 2014-05-15
JP6089585B2 JP6089585B2 (en) 2017-03-08

Family

ID=50791097

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012238203A Active JP6089585B2 (en) 2012-10-29 2012-10-29 Obstacle detection device

Country Status (1)

Country Link
JP (1) JP6089585B2 (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160011108A (en) * 2014-07-21 2016-01-29 현대모비스 주식회사 Device for correcting the detected obstacle position by parking assist system and method thereof
DE102015220544A1 (en) 2014-10-22 2016-04-28 Denso Corporation OBJECT DETECTION DEVICE
DE102015220502A1 (en) 2014-10-22 2016-04-28 Toyota Jidosha Kabushiki Kaisha Object detecting device
DE102015219802A1 (en) 2014-10-22 2016-04-28 Denso Corporation Object detecting device
DE102015220329A1 (en) 2014-10-22 2016-04-28 Toyota Jidosha Kabushiki Kaisha Object detecting device
DE102015220576A1 (en) 2014-10-22 2016-04-28 Denso Corporation OBJECT DETECTION DEVICE
JP2016080647A (en) * 2014-10-22 2016-05-16 株式会社デンソー Object detector
JP2016132313A (en) * 2015-01-16 2016-07-25 公益財団法人鉄道総合技術研究所 Crossing obstacle detection device
JP2017015494A (en) * 2015-06-30 2017-01-19 株式会社デンソー Object detection device and object detection method
WO2017171081A1 (en) * 2016-04-01 2017-10-05 株式会社デンソー Sensing device and sensing system
CN108225360A (en) * 2014-11-24 2018-06-29 张欣 A kind of air navigation aid of onboard navigation system
US10210435B2 (en) 2014-10-22 2019-02-19 Denso Corporation Object detection apparatus
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
WO2019159996A1 (en) * 2018-02-15 2019-08-22 パナソニックＩｐマネジメント株式会社 Detection system, sensor system, and detection method
US10453343B2 (en) 2014-10-22 2019-10-22 Denso Corporation Object detection apparatus
CN113706825A (en) * 2021-08-12 2021-11-26 惠州Tcl云创科技有限公司 Anti-falling detection early warning device and anti-falling method
US11360212B2 (en) 2014-10-22 2022-06-14 Denso Corporation Ultrasonic type object detection apparatus
CN115236609A (en) * 2022-07-20 2022-10-25 广州汽车集团股份有限公司 Anti-interference detection method and system based on ultrasonic radar

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0498185A (en) * 1990-08-15 1992-03-30 Matsushita Electric Works Ltd Ultrasonic object detector
JPH04250389A (en) * 1991-01-28 1992-09-07 Matsushita Electric Works Ltd Ultrasonic object detector
JPH06118167A (en) * 1991-03-13 1994-04-28 Moba Elektron G Fuer Mobil Autom Mbh Method for controlling lateraal position of architectural machine or agricultural machine with respect to reference body
JP2000321354A (en) * 1999-05-13 2000-11-24 Nissan Motor Co Ltd Vehicle radar display device
JP2001305222A (en) * 2000-04-26 2001-10-31 Yazaki Corp Electronic scanning type ultrasonic object detection device and method therefor
JP2003270345A (en) * 2002-03-15 2003-09-25 Denso Corp Obstacle detector
JP2005009922A (en) * 2003-06-17 2005-01-13 Nippon Soken Inc Object detection device for vehicle
JP2007140852A (en) * 2005-11-17 2007-06-07 Aisin Seiki Co Ltd Obstruction position detector and obstruction position detecting method
JP2008039497A (en) * 2006-08-03 2008-02-21 Matsushita Electric Works Ltd Obstacle detector
JP2008514937A (en) * 2004-09-29 2008-05-08 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング Vehicle start-up support system
US20090102629A1 (en) * 2006-06-13 2009-04-23 Jochen Kaller Lane-change assistant for motor vehicles
JP2009250672A (en) * 2008-04-02 2009-10-29 Denso Corp Obstacle detection device
JP2010223918A (en) * 2009-03-25 2010-10-07 Denso Corp Obstacle detection device
JP2012089114A (en) * 2010-09-24 2012-05-10 Toyota Motor Corp Obstacle recognition device

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0498185A (en) * 1990-08-15 1992-03-30 Matsushita Electric Works Ltd Ultrasonic object detector
JPH04250389A (en) * 1991-01-28 1992-09-07 Matsushita Electric Works Ltd Ultrasonic object detector
JPH06118167A (en) * 1991-03-13 1994-04-28 Moba Elektron G Fuer Mobil Autom Mbh Method for controlling lateraal position of architectural machine or agricultural machine with respect to reference body
JP2000321354A (en) * 1999-05-13 2000-11-24 Nissan Motor Co Ltd Vehicle radar display device
JP2001305222A (en) * 2000-04-26 2001-10-31 Yazaki Corp Electronic scanning type ultrasonic object detection device and method therefor
JP2003270345A (en) * 2002-03-15 2003-09-25 Denso Corp Obstacle detector
JP2005009922A (en) * 2003-06-17 2005-01-13 Nippon Soken Inc Object detection device for vehicle
JP2008514937A (en) * 2004-09-29 2008-05-08 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング Vehicle start-up support system
JP2007140852A (en) * 2005-11-17 2007-06-07 Aisin Seiki Co Ltd Obstruction position detector and obstruction position detecting method
US20090102629A1 (en) * 2006-06-13 2009-04-23 Jochen Kaller Lane-change assistant for motor vehicles
JP2008039497A (en) * 2006-08-03 2008-02-21 Matsushita Electric Works Ltd Obstacle detector
JP2009250672A (en) * 2008-04-02 2009-10-29 Denso Corp Obstacle detection device
JP2010223918A (en) * 2009-03-25 2010-10-07 Denso Corp Obstacle detection device
JP2012089114A (en) * 2010-09-24 2012-05-10 Toyota Motor Corp Obstacle recognition device

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160011108A (en) * 2014-07-21 2016-01-29 현대모비스 주식회사 Device for correcting the detected obstacle position by parking assist system and method thereof
KR102146662B1 (en) 2014-07-21 2020-08-21 현대모비스 주식회사 Device for correcting the detected obstacle position by parking assist system and method thereof
US10175355B2 (en) 2014-10-22 2019-01-08 Denso Corporation Object detection apparatus
US10451734B2 (en) 2014-10-22 2019-10-22 Denso Corporation Object detecting apparatus
US10175354B2 (en) 2014-10-22 2019-01-08 Denso Corporation Object detection apparatus
DE102015220576A1 (en) 2014-10-22 2016-04-28 Denso Corporation OBJECT DETECTION DEVICE
CN105549017A (en) * 2014-10-22 2016-05-04 株式会社电装 Object detection apparatus
CN105549020A (en) * 2014-10-22 2016-05-04 株式会社电装 Object detection apparatus
JP2016080647A (en) * 2014-10-22 2016-05-16 株式会社デンソー Object detector
DE102015220502A1 (en) 2014-10-22 2016-04-28 Toyota Jidosha Kabushiki Kaisha Object detecting device
US11360212B2 (en) 2014-10-22 2022-06-14 Denso Corporation Ultrasonic type object detection apparatus
DE102015220544A1 (en) 2014-10-22 2016-04-28 Denso Corporation OBJECT DETECTION DEVICE
US10578736B2 (en) 2014-10-22 2020-03-03 Denso Corporation Object detection apparatus
CN105549020B (en) * 2014-10-22 2018-03-16 株式会社电装 Object test equipment
CN105549017B (en) * 2014-10-22 2018-05-04 株式会社电装 Article detection device
DE102015219802A1 (en) 2014-10-22 2016-04-28 Denso Corporation Object detecting device
US10453343B2 (en) 2014-10-22 2019-10-22 Denso Corporation Object detection apparatus
DE102015220329A1 (en) 2014-10-22 2016-04-28 Toyota Jidosha Kabushiki Kaisha Object detecting device
US10210435B2 (en) 2014-10-22 2019-02-19 Denso Corporation Object detection apparatus
US10436899B2 (en) 2014-10-22 2019-10-08 Denso Corporation Object detection apparatus
US10436900B2 (en) 2014-10-22 2019-10-08 Denso Corporation Object detection apparatus
CN108225360A (en) * 2014-11-24 2018-06-29 张欣 A kind of air navigation aid of onboard navigation system
JP2016132313A (en) * 2015-01-16 2016-07-25 公益財団法人鉄道総合技術研究所 Crossing obstacle detection device
JP2017015494A (en) * 2015-06-30 2017-01-19 株式会社デンソー Object detection device and object detection method
JP2017187315A (en) * 2016-04-01 2017-10-12 株式会社デンソー Detection device and detection system
WO2017171081A1 (en) * 2016-04-01 2017-10-05 株式会社デンソー Sensing device and sensing system
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
CN109791196B (en) * 2016-09-30 2023-05-16 松下知识产权经营株式会社 Detection device, detection method, and recording medium
WO2019159996A1 (en) * 2018-02-15 2019-08-22 パナソニックＩｐマネジメント株式会社 Detection system, sensor system, and detection method
CN113706825A (en) * 2021-08-12 2021-11-26 惠州Tcl云创科技有限公司 Anti-falling detection early warning device and anti-falling method
CN115236609B (en) * 2022-07-20 2024-03-01 广州汽车集团股份有限公司 Anti-interference detection method and system based on ultrasonic radar
CN115236609A (en) * 2022-07-20 2022-10-25 广州汽车集团股份有限公司 Anti-interference detection method and system based on ultrasonic radar

Also Published As

Publication number Publication date
JP6089585B2 (en) 2017-03-08

Similar Documents

Publication Publication Date Title
JP6089585B2 (en) Obstacle detection device
KR101892763B1 (en) Method for detecting obstacle, apparatus for detecting obstacle and method and system for parking assistant
JP6413097B2 (en) Object detection device
JP6246465B2 (en) Road shoulder recognition method and system
KR20170114054A (en) Collision preventing apparatus and collision preventing method
KR101965989B1 (en) Method for warning a driver of a vehicle of the presence of an object in the surroundings, driver assistance system and motor vehicle
CN107298098B (en) Parking assisting device and parking control method thereof
JP5482670B2 (en) Object detection device
JP2015004562A (en) Obstacle detection device
US10451734B2 (en) Object detecting apparatus
JP6577767B2 (en) Object detection apparatus and object detection method
US20200111369A1 (en) Method and system for tracking position of vehicle using ultrasonic sensor in rear-cross blind spot
US8823578B2 (en) Driving assist apparatus
KR101747818B1 (en) Intelligent alarm apparatus of vehicle and method of the same
KR101509945B1 (en) Object detection method of vehicle, and method for controlling parking assist system using the same
US20150097702A1 (en) Blind spot sensing apparatus and method
JP2013061690A (en) Obstacle detection system for vehicle
JP4872517B2 (en) Obstacle recognition device
KR20160015752A (en) Parking assist system for detecting the super proximity obstruction around a vehicle and method thereof
CN109597055A (en) The adaptive reduction of ultrasonic wave transmitting in vehicle object detecting system
JP2005069739A (en) On-vehicle obstacle detection device
KR20180007211A (en) A Rear collision warning system of Vehicles
JP2009300210A (en) Monitoring device of surroundings of vehicle
KR102075927B1 (en) Apparatus and method for parking assistance
JP2021064098A (en) Control unit

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20141222

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20151028

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20151030

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20151211

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20160606

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160719

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20170110

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170123

R151 Written notification of patent or utility model registration

Ref document number: 6089585

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250