JP2016080645A - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
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- JP2016080645A JP2016080645A JP2014215094A JP2014215094A JP2016080645A JP 2016080645 A JP2016080645 A JP 2016080645A JP 2014215094 A JP2014215094 A JP 2014215094A JP 2014215094 A JP2014215094 A JP 2014215094A JP 2016080645 A JP2016080645 A JP 2016080645A
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- 238000001514 detection method Methods 0.000 claims abstract description 124
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 description 22
- 238000004364 calculation method Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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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
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
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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
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
本発明は上記実施形態に限定されず、例えば次のように実施してもよい。
Claims (5)
- 探査波を送信し前記探査波の反射波を物体の検知情報として受信する物体検知センサ(20)を備える移動体(30)に適用され、前記検知情報に基づき前記移動体の周囲に存在する物体を検知する物体検知装置(10)であって、
前記探査波の送信周期を基準に定めた所定の送信期間における同じ時期での外乱信号の発生頻度を検出する頻度検出手段と、
前記頻度検出手段により検出した前記発生頻度に基づいて、外乱発生の有無を判定する外乱判定手段と、
を備えることを特徴とする物体検知装置。 - 前記反射波の受信時刻に基づいて前記移動体と前記物体との距離を算出する距離算出手段を備え、
前記頻度検出手段は、前記所定の送信期間において前記物体の検知期間の開始時期を含む所定の短距離検知期間(Th)に受信した前記反射波を前記外乱信号とし、該外乱信号の発生頻度を検出する請求項1に記載の物体検知装置。 - 前記移動体の速度を検出する速度検出手段を備え、
前記外乱判定手段は、前記速度が所定速度以上であることを条件に外乱発生の有無を判定する請求項2に記載の物体検知装置。 - 前記頻度検出手段は、前記所定の送信期間において前記探査波の送信期間及び前記物体の検知期間とは異なる期間に定めたノイズ検知期間(Tn)での受信信号を前記外乱信号とし、該外乱信号の発生頻度を検出する請求項1に記載の物体検知装置。
- 前記物体検知センサは、前記探査波として超音波を送信する超音波センサである請求項1〜4のいずれか一項に記載の物体検知装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014215094A JP6430778B2 (ja) | 2014-10-22 | 2014-10-22 | 物体検知装置 |
DE102015220576.2A DE102015220576A1 (de) | 2014-10-22 | 2015-10-21 | Objekterfassungsvorrichtung |
US14/919,562 US10436900B2 (en) | 2014-10-22 | 2015-10-21 | Object detection apparatus |
CN201510696455.6A CN105549021B (zh) | 2014-10-22 | 2015-10-22 | 对象检测装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014215094A JP6430778B2 (ja) | 2014-10-22 | 2014-10-22 | 物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016080645A true JP2016080645A (ja) | 2016-05-16 |
JP6430778B2 JP6430778B2 (ja) | 2018-11-28 |
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Application Number | Title | Priority Date | Filing Date |
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JP2014215094A Active JP6430778B2 (ja) | 2014-10-22 | 2014-10-22 | 物体検知装置 |
Country Status (4)
Country | Link |
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US (1) | US10436900B2 (ja) |
JP (1) | JP6430778B2 (ja) |
CN (1) | CN105549021B (ja) |
DE (1) | DE102015220576A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109791196A (zh) * | 2016-09-30 | 2019-05-21 | 松下知识产权经营株式会社 | 检测装置、检测方法以及检测程序 |
KR20200076967A (ko) * | 2018-12-20 | 2020-06-30 | 주식회사 만도 | 초음파 센서 장치와 초음파 센서 제어 장치 및 방법 |
JP2021015029A (ja) * | 2019-07-11 | 2021-02-12 | 株式会社豊田自動織機 | 物体検出装置及び物体検出方法 |
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CN105960597A (zh) * | 2014-02-05 | 2016-09-21 | 松下知识产权经营株式会社 | 物体探测装置 |
JP6658413B2 (ja) * | 2016-09-07 | 2020-03-04 | 株式会社デンソー | 物体検出装置 |
WO2018198239A1 (ja) * | 2017-04-26 | 2018-11-01 | 三菱電機株式会社 | 処理装置および物体識別情報の生成方法 |
US20190086509A1 (en) * | 2017-09-15 | 2019-03-21 | GM Global Technology Operations LLC | Synchronization of multiple radars start up time for interference mitigation |
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CN109814113B (zh) * | 2019-01-15 | 2022-02-25 | 北京百度网讯科技有限公司 | 一种超声波雷达障碍物检测结果处理方法及*** |
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US20160116588A1 (en) | 2016-04-28 |
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