JP7501673B2 - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
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- JP7501673B2 JP7501673B2 JP2022574002A JP2022574002A JP7501673B2 JP 7501673 B2 JP7501673 B2 JP 7501673B2 JP 2022574002 A JP2022574002 A JP 2022574002A JP 2022574002 A JP2022574002 A JP 2022574002A JP 7501673 B2 JP7501673 B2 JP 7501673B2
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- 238000001514 detection method Methods 0.000 title claims description 85
- 230000005540 biological transmission Effects 0.000 claims description 60
- 238000012545 processing Methods 0.000 claims description 52
- 238000000034 method Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 9
- 238000007781 pre-processing Methods 0.000 description 9
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 239000010426 asphalt Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000002366 time-of-flight method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/11—Analysing solids by measuring attenuation of acoustic waves
-
- 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
-
- 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
-
- 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
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0232—Glass, ceramics, concrete or stone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/025—Change of phase or condition
- G01N2291/0258—Structural degradation, e.g. fatigue of composites, ageing of oils
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/04—Wave modes and trajectories
- G01N2291/044—Internal reflections (echoes), e.g. on walls or defects
-
- 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
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
図1は、第1実施形態にかかる物体検出システムを備えた車両1を上方から見た外観を示した例示的かつ模式的な図である。
次に、第2実施形態について説明する。第1実施形態と同様の事項については、重複する説明を適宜省略する。第2実施形態では、物体検出システムが、マップを用いて、前方の路面の種類を推定するときと、真下の路面の種類を推定するときについて説明する。
領域R12:砂利
領域R13:新雪/コンクリート/氷(凸凹無し)
領域R14:圧雪
領域R15:その他
領域R16:その他
領域R22:コンクリート/氷(凸凹無し)
領域R23:砂利
領域R24:新雪
領域R25:圧雪
領域R26:氷(凸凹有り)
領域R27:その他
なお、上述した実施形態では、本開示の技術が、超音波の送受信によって物体までの距離を検出する構成に適用されている。しかしながら、本開示の技術は、音波、ミリ波、レーダ、および電磁波などのような、超音波以外の他の波動の送受信によって物体までの距離を検出する構成にも適用することが可能である。
100 ECU
200 物体検出装置
210 送受波器
411 送信部
421 受信部
423 CFAR処理部
424 閾値処理部
425 検出処理部
426 推定部
Claims (6)
- 路面に向けて複数の送信波を送信する送信手段と、
前記送信波の物体での反射波を受信波として受信する受信部と、
複数の前記送信波のそれぞれについて、所定の検出タイミングで受信された前記受信波に基づく第1処理対象信号の値と、前記検出タイミングの前後の所定の区間において受信された前記受信波に基づく第2処理対象信号の値の平均値と、に基づくCFAR処理により、前記検出タイミングにおけるCFAR信号を取得するCFAR処理部と、
複数の前記CFAR信号の平均信号レベル、および、ばらつき度合いに基づいて、路面の種類を推定する推定部と、
を備える、物体検出装置。 - 前記送信手段は、複数の送信部を備えており、
複数の前記送信部のそれぞれは、同時に前記送信波を前記路面に向けて送信する、請求項1に記載の物体検出装置。 - 前記推定部によって推定された前記路面の種類に応じて、前記CFAR信号に関する閾値を設定する閾値処理部を、さらに備える、請求項1または請求項2に記載の物体検出装置。
- 前記物体検出装置は、車両に搭載され、
前記推定部は、推定した前記路面の種類の情報を前記車両のブレーキ制御部に送信する、請求項1から請求項3のいずれか一項に記載の物体検出装置。 - 前記閾値処理部は、前記路面の種類に対応する前記ばらつき度合いが大きいほど、前記閾値を大きく設定する、請求項3に記載の物体検出装置。
- 前記推定部は、路面の種類ごとの前記平均信号レベルおよび前記ばらつき度合いの実測値により予め領域を定義したマップに、前記第2処理対象信号の各々の平均値およびばらつき度合いをあてはめて、対応する路面の種類を推定する、請求項1に記載の物体検出装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021002369 | 2021-01-08 | ||
JP2021002369 | 2021-01-08 | ||
PCT/JP2021/047986 WO2022149485A1 (ja) | 2021-01-08 | 2021-12-23 | 物体検出装置 |
Publications (2)
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JPWO2022149485A1 JPWO2022149485A1 (ja) | 2022-07-14 |
JP7501673B2 true JP7501673B2 (ja) | 2024-06-18 |
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JP2022574002A Active JP7501673B2 (ja) | 2021-01-08 | 2021-12-23 | 物体検出装置 |
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US (1) | US20240012123A1 (ja) |
EP (1) | EP4276492A4 (ja) |
JP (1) | JP7501673B2 (ja) |
CN (1) | CN116583746A (ja) |
WO (1) | WO2022149485A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015162812A1 (ja) | 2014-04-21 | 2015-10-29 | シャープ株式会社 | 路面検出センサおよび該路面検出センサを備えた自律走行装置 |
US20190302258A1 (en) | 2018-04-02 | 2019-10-03 | Hyundai Mobis Co., Ltd. | Parking assistance system of vehicle and method of improving detection performance of ultrasonic sensor therefor |
JP2021001811A (ja) | 2019-06-21 | 2021-01-07 | アイシン精機株式会社 | 物体検出装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4670446B2 (ja) | 2005-04-13 | 2011-04-13 | 日本電気株式会社 | レーダ信号処理装置及びそれに用いるcfar処理方法 |
EP3382419A1 (en) * | 2017-03-27 | 2018-10-03 | Melexis Technologies SA | Method and apparatus for echo detection |
-
2021
- 2021-12-23 JP JP2022574002A patent/JP7501673B2/ja active Active
- 2021-12-23 EP EP21917705.2A patent/EP4276492A4/en active Pending
- 2021-12-23 US US18/035,600 patent/US20240012123A1/en active Pending
- 2021-12-23 CN CN202180083935.9A patent/CN116583746A/zh active Pending
- 2021-12-23 WO PCT/JP2021/047986 patent/WO2022149485A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015162812A1 (ja) | 2014-04-21 | 2015-10-29 | シャープ株式会社 | 路面検出センサおよび該路面検出センサを備えた自律走行装置 |
US20190302258A1 (en) | 2018-04-02 | 2019-10-03 | Hyundai Mobis Co., Ltd. | Parking assistance system of vehicle and method of improving detection performance of ultrasonic sensor therefor |
JP2021001811A (ja) | 2019-06-21 | 2021-01-07 | アイシン精機株式会社 | 物体検出装置 |
Also Published As
Publication number | Publication date |
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US20240012123A1 (en) | 2024-01-11 |
JPWO2022149485A1 (ja) | 2022-07-14 |
CN116583746A (zh) | 2023-08-11 |
WO2022149485A1 (ja) | 2022-07-14 |
EP4276492A4 (en) | 2024-07-03 |
EP4276492A1 (en) | 2023-11-15 |
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