WO2014061192A1 - Dispositif de détection de distance, procédé de détection de distance et support lisible par ordinateur tangible persistant associé - Google Patents

Dispositif de détection de distance, procédé de détection de distance et support lisible par ordinateur tangible persistant associé Download PDF

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Publication number
WO2014061192A1
WO2014061192A1 PCT/JP2013/005278 JP2013005278W WO2014061192A1 WO 2014061192 A1 WO2014061192 A1 WO 2014061192A1 JP 2013005278 W JP2013005278 W JP 2013005278W WO 2014061192 A1 WO2014061192 A1 WO 2014061192A1
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WO
WIPO (PCT)
Prior art keywords
target
distance
distance detection
sensitivity
sound wave
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PCT/JP2013/005278
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English (en)
Japanese (ja)
Inventor
岳人 原田
大塚　秀樹
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株式会社デンソー
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Publication of WO2014061192A1 publication Critical patent/WO2014061192A1/fr

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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
    • G01S15/08—Systems for measuring distance only
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • 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
    • G01S7/5276—Extracting wanted echo signals using analogue techniques

Definitions

  • the present disclosure relates to a distance detection device that detects a distance to a target by transmitting and receiving sound waves, a distance detection method, and a continuous tangible computer-readable medium for distance detection.
  • a distance detection device As a distance detection device, a device that distinguishes a moving object from a stationary object using the Doppler effect is known (for example, see Patent Document 1).
  • the distance detection device has a problem that it is difficult to distinguish different stationary objects such as small steps and wall surfaces.
  • a distance detection device that detects a distance to a target by transmitting and receiving sound waves is preset with a reception level of a reflected wave obtained by reflecting the transmitted sound waves on the target.
  • a target determination device that determines the presence or absence of a target and a distance to the target by comparing the threshold values with each other, and a plurality of targets having different reflection surface sizes after transmitting the sound wave
  • a sensitivity changing device that sets a higher sensitivity for the target determination device to obtain a reflected wave after a corresponding time corresponding to a reference distance within a possible distance range has elapsed.
  • the sensitivity is increased in a region farther than the reference distance, so that the reflective surface is small (low reflectance) and the reflective surface is large (high reflectance). ) Both can be detected.
  • the sensitivity is lowered, so that a small reflection surface is not detected, and a large reflection surface can be detected. Therefore, a plurality of targets can be identified by detecting a change between a state where the target can be detected and a state where the target cannot be detected in a process in which the distance to the target changes with the reference distance interposed therebetween. This is particularly useful in a system that requires both detection accuracy and response, such as a system that applies a brake according to detection information of a sonar.
  • the persistent tangible computer readable medium for distance detection provided with the computer-implemented instructions includes a computer-implemented method that configures each device of the distance detection apparatus in the first aspect.
  • the above computer-readable medium is useful in a system that requires both detection accuracy and response. Therefore, it is possible to satisfactorily identify a plurality of targets having different sizes of sound wave reflection surfaces, such as whether a target approaching the reference distance or more and less than the reference distance is a small step or a wall surface, for example. it can.
  • a distance detection method for detecting a distance to a target by transmitting and receiving sound waves transmits the sound waves, and receives the reflected waves obtained by reflecting the transmitted sound waves on the targets. Then, by comparing the reception level of the reflected wave with a preset threshold value, the presence / absence of the target and the distance to the target are determined, and the reflected sound is reflected after the corresponding time has elapsed since the sound wave was transmitted. Setting the sensitivity to receive waves higher.
  • the corresponding time corresponds to a reference distance that is within a distance range in which a plurality of targets having different acoustic wave reflection surface sizes can be identified.
  • the distance detection method described above is useful in a system that requires both detection accuracy and response. Therefore, it is possible to satisfactorily identify a plurality of targets having different sizes of sound wave reflection surfaces, such as whether a target approaching the reference distance or more and less than the reference distance is a small step or a wall surface, for example. it can.
  • FIG. 1 is an explanatory diagram showing a schematic configuration of a distance detection system of the present disclosure
  • FIG. 2 is a flowchart showing a detection process executed by the calculation unit 11 of the sound wave sensor 10.
  • 3 (A) to 3 (C) are graphs showing reflected wave intensities corresponding to various threshold values
  • 4 (A) to 4 (C) are graphs showing the reflected wave intensity when the target is a wall surface
  • FIGS. 5A to 5C are graphs showing the reflected wave intensity when the target is a step
  • FIGS. 6A to 6B are graphs showing the reflected wave intensity when the target is a ⁇ 400 pole
  • FIG. 7 is a flowchart showing avoidance processing executed by the CPU of the collision avoidance control unit.
  • the distance detection system 1 to which the present disclosure is applied is mounted on a vehicle such as a passenger car, for example, and detects obstacles such as a wall surface and a step located in front of or behind the vehicle (own vehicle), and the vehicle travel This is a system that performs control such as braking when there is a hindrance (eg wall surface).
  • the distance detection system 1 includes a sound wave sensor 10, a sonar control unit 30, a collision avoidance control unit 40, and a brake actuator 50.
  • the sonic sensor 10 and the sonar control unit 30 are connected via a communication line 4 that performs communication using, for example, the LIN protocol.
  • the sonar control unit 30, the collision avoidance control unit 40, and the brake actuator 50 include, for example, the CAN protocol.
  • the communication line 5 is used for communication.
  • the sound wave sensor 10 has a function as a well-known sound wave sensor that detects a distance to a target that reflects sound waves by transmitting and receiving sound waves such as ultrasonic waves.
  • the sound wave sensor 10 of the present embodiment has a function of changing the sensitivity according to the distance of the target to be detected. A function for changing the sensitivity will be described later.
  • the sonic sensor 10 includes a calculation unit 11, a transmission / reception unit 12, a first amplification unit 13, a variable amplification unit 14, a second amplification unit 15, a comparison unit 16, a threshold voltage generation unit 17, and a communication unit 18. And.
  • the calculation unit 11 is configured as a computer including a CPU 11a, a memory 11b, and the like, and transmits various commands to each unit constituting the acoustic wave sensor 10. In addition, the calculating part 11 implements processes, such as a detection process mentioned later.
  • the memory 11b stores a distance detection program referred to in the present disclosure and is executed by the CPU 11a.
  • the transmission / reception unit 12 transmits a sound wave in response to a command from the calculation unit 11 and receives a reflected wave from the target. And a signal is produced
  • the transmission / reception part 12 is comprised from the piezoelectric element, for example.
  • the first amplifying unit 13 and the second amplifying unit 15 are configured by an amplifier circuit such as an amplifier.
  • the first amplification unit 13 amplifies the signal output from the transmission / reception unit 12 with a predetermined amplification factor.
  • the variable amplifying unit 14 amplifies the signal output from the first amplifying unit 13 at an arbitrary amplification factor set by the arithmetic unit 11 each time.
  • the second amplifying unit 15 amplifies the signal output from the variable amplifying unit 14 with a predetermined amplification factor.
  • the threshold voltage generator 17 generates a threshold voltage for comparison in accordance with a command from the calculator 11.
  • the comparison unit 16 compares the threshold voltage generated by the threshold voltage generation unit 17 with the voltage of the signal output from the second amplification unit 15, and when the signal voltage exceeds the threshold voltage, the calculation unit 11 outputs a signal.
  • the computing unit 11 computes the distance at which the target that reflected the sound wave exists according to the timing at which the signal from the comparing unit 16 is received.
  • the calculation unit 11 transmits the calculation result of the distance to the target to the sonar control unit 30 via the communication unit 18 and the communication line 4.
  • the communication unit 18 (the same applies to communication units 38 and 48 described later) is configured as a known communication module that performs communication via the communication lines 4 and 5.
  • the sonar control unit 30 includes a CPU 31, a memory 32, and a communication unit 38.
  • the CPU 31 performs processing according to the program stored in the memory 32. Specifically, the CPU 31 controls the acoustic sensor 10 such as setting for the acoustic sensor 10, and the collision avoidance of the calculation result of the distance to the target. Processing to be transmitted to the control unit 40 is performed.
  • the collision avoidance control unit 40 has a function of controlling the controlled object such as the brake actuator 50 according to the detection result of the target.
  • the collision avoidance control unit 40 includes a CPU 41, a memory 42, and a communication unit 48.
  • the CPU 41, the memory 42, and the communication unit 48 have the same hardware configuration as the CPU 31, the memory 32, and the communication unit 38 provided in the sonar control unit 30.
  • CPU41 of the collision avoidance control part 40 performs processes, such as an avoidance process mentioned later.
  • the calculation unit 11 (CPU 11a) of the sound wave sensor 10 performs the detection process shown in FIG.
  • the detection process is a process for detecting the distance to the target while changing the sensitivity.
  • the sound wave transmission timing is determined whether or not the sound wave transmission timing has come (S110).
  • the sound wave is set to be transmitted at a preset period (for example, 100 ms).
  • a preset period for example, 100 ms.
  • the specified time represents a time corresponding to a reference distance within a distance range in which a plurality of targets having different sizes of sound wave reflection surfaces can be identified after the sound wave is transmitted.
  • the reference distance When the length is 2 m, it is about 12 ms.
  • the sensitivity of the sound wave sensor 10 is set relatively low (S140). Specifically, by setting the amplification factor by the variable amplification unit 14 to be relatively low and setting the threshold voltage to be generated by the threshold voltage generation unit 17 to be relatively high, a small step or the like on the reflection surface is not detected. In addition, a wall surface having a large reflection surface can be detected. When such a process is completed, the process proceeds to S170 described later.
  • S130 if the specified time has elapsed (S130: YES), it is determined whether or not a preset measurement end time has elapsed since the sound wave was transmitted (S150).
  • a preset measurement end time a time (for example, 30 ms: equivalent to 5 m) from the start of transmission of sound waves to the end of detection of a necessary distance is set.
  • the sensitivity of the sound wave sensor 10 is set relatively high (S160). Specifically, by setting the amplification factor by the variable amplifying unit 14 to be relatively high and setting the threshold voltage to be generated by the threshold voltage generating unit 17 to be relatively low, one having a small reflecting surface and a large reflecting surface. Be able to detect both things.
  • the amplification factor (gain) by the variable amplification unit 14 and the threshold voltage (threshold) to be generated by the threshold voltage generation unit 17 are set. That is, the gain is switched to a higher gain at the reference distance (A), and the threshold voltage is switched to a smaller value at the reference distance (A).
  • the wall surface (upper solid line) whose target is a large reflecting surface is detected in an area closer than the reference distance (A), but a step of 5 cm 90 ° (lower side) whose target is a small reflecting surface.
  • the threshold voltage and the amplification factor are set so that the solid line) is not detected in the region closer than the reference distance (A). Further, the threshold voltage and the amplification factor are set so that any target is detected in a region farther than the reference distance (A).
  • the threshold voltage and amplification factor are set experimentally so that such characteristics can be obtained.
  • the threshold voltage is set to increase stepwise and monotonously in a region closer than the reference distance (A), and stepwise and monotonously in a region farther than the reference distance (A). Is set to be low.
  • the sensitivity is set so that only a target having a large reflection surface is detected in an area closer than the reference distance (A) and any target is detected in an area farther than the reference distance (A). If so, it can be set to any value (threshold voltage or amplification factor).
  • FIG. 4 (A) to FIG. 4 (C), FIG. 5 (A) to FIG. 5 (C), and FIG. 6 (B) when the host vehicle approaches the target as time passes, It indicates whether or not the target has been detected, and indicates that the target has been detected in the area indicated by the solid line.
  • the reference distance (A) is used. Can also be detected from a distant area.
  • FIG. 3 (B) and FIG. 3 (C) a comparative example in the case where the sensitivity is not changed as in the present embodiment is shown in FIG. 3 (B) and FIG. 3 (C).
  • FIG. 3B shows an example in which the sensitivity is set so as not to detect a target having a small reflecting surface such as a step
  • FIG. 3C shows sensitivity for detecting a target having a large reflecting surface at an early stage. An example of setting is shown.
  • the object detection confirmation In a system using an ultrasonic sonar, in order to ensure the accuracy of the detection, it is common to determine the object detection confirmation by detecting a plurality of times (for example, three times).
  • sensitivity is set as shown in FIG. 3 (B)
  • the wall and step can be identified as shown in FIG. 4 (B).
  • a wall cannot be detected unless it is close to a certain distance. For this reason, it may take more time to finalize the detection result and the necessary control may be delayed.
  • the target is a step that does not need to avoid a collision, the step is not detected as shown in FIG. .
  • the configuration of the present embodiment has an advantage compared to the above example.
  • it is necessary to avoid a collision, but it is advantageous when detecting a ⁇ 400 pole that is a target having a smaller reflecting surface than the wall surface.
  • avoidance processing for avoiding a vehicle collision using the detection result of the sound wave sensor 10 will be described with reference to FIG. Although this process is a process for avoiding a collision of a vehicle, the object is to make it possible to reduce the impact at the minimum even if the collision cannot be avoided.
  • the detection result of the target by the sound wave sensor 10 is acquired (S310). Then, it is determined whether or not a target has been detected (S320). In this process, even if the target is not detected in the current avoidance process, if the target is detected within a certain time (for example, within 1.0 seconds) (that the target has been detected within a certain time) Is recorded in the memory 42), the processing in S320 treats the target as detected.
  • the avoidance process is terminated. If the target is not detected (S320: NO), the avoidance process is terminated. If the target has been detected (S320: YES), the fact that the target has been detected is recorded in the memory 42 (S330). However, if the target is not detected in the current process, the process of S330 is omitted.
  • the degree of risk is determined (S340).
  • the degree of danger is uniquely determined by a map or a mathematical formula prepared in advance by comprehensively considering the speed and acceleration of the host vehicle, the distance to the target, and the like. If the degree of risk is less than a predetermined reference value (S340: NO), the avoidance process is terminated.
  • the distance to the target is compared with the reference distance (S350).
  • the reference distance is a distance corresponding to the specified time used for the determination in the process of S130.
  • the preparation for applying the brake indicates that the brake actuator 50 is operated to the extent that the brake is not applied, and the brake can be immediately applied when the brake is applied, for example, the brake pad is brought close to the brake disk.
  • the calculation unit 11 of the sound wave sensor 10 is within a distance range in which a plurality of targets having different reflection surface sizes can be identified after transmitting the sound wave.
  • a reflected wave after the specified time (corresponding time) corresponding to the reference distance has elapsed timing close enough to be considered to be the same as or simultaneously with the specified time and within a distance range where the target can be identified
  • Set a higher sensitivity the presence / absence of the target and the distance to the target are determined by comparing the reception level of the reflected wave obtained by reflecting the transmitted sound wave on the target with a preset threshold value.
  • a distance detection system 1 since sensitivity is increased in a region farther than the reference distance, it is possible to detect both a small reflection surface and a large reflection surface. In addition, in the region closer than the reference distance, the sensitivity is lowered, so that a small reflection surface is not detected, and a large reflection surface can be detected. Therefore, a plurality of targets can be identified by detecting a change between a state where the target can be detected and a state where the target cannot be detected in a process in which the distance to the target changes with the reference distance interposed therebetween.
  • the calculation unit 11 of the sound wave sensor 10 sets the sensitivity in a stepwise manner.
  • the sensitivity stepwise that is, abruptly changing the sensitivity.
  • the sensitivity is preferably changed by, for example, about 6 dB or more.
  • the calculation unit 11 of the sound wave sensor 10 monotonously decreases the threshold value after the lapse of the specified time. Even in this case, it is possible to easily detect a target having a reference distance or more.
  • the collision avoidance control unit 40 (CPU 41) prepares for braking when the target is detected at a reference distance or more, and when the target is detected at a distance less than the reference distance. The braking is applied to the vehicle.
  • Embodiments of the present disclosure are not limited to the above-described embodiments, and may take various forms as long as they belong to the technical scope of the present disclosure.
  • control is performed to apply braking when the target is less than the reference distance in a state where the target is recognized above the reference distance, but instead of control such as braking or the like In addition to the above control, a warning or the like may be notified.
  • the sound wave sensor 10 in the present embodiment corresponds to a distance detection device in the present disclosure.
  • the process of S170 corresponds to a target determination apparatus referred to in the present disclosure
  • the processes of S130 to S160 correspond to a sensitivity change apparatus referred to in the present disclosure.
  • the processes of S140 and S160 correspond to the threshold value changing device referred to in the present disclosure
  • the process of S360 corresponds to the braking application execution device referred to in the present disclosure
  • the process of S370 corresponds to the braking application preparation device referred to in the present disclosure.

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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)

Abstract

La présente invention concerne un dispositif de détection de distance (10) permettant de détecter la distance à une cible par l'émission-réception d'ondes sonores. Ledit dispositif est doté : d'un dispositif d'évaluation de cible (S170) permettant d'évaluer l'existence d'une cible et la distance à la cible par la comparaison d'une valeur seuil définie à l'avance et du niveau auquel des ondes réfléchies obtenues par des ondes sonores émises réfléchies par la cible sont reçues ; et des dispositifs de modification de sensibilité (S130 à S160) permettant de définir la sensibilité à laquelle le dispositif d'évaluation de cible obtient des ondes réfléchies pour qu'elle soit supérieure après l'écoulement d'une durée qui correspond à une distance de référence après l'émission des ondes sonores, la distance de référence se trouvant dans une plage de distances dans laquelle une pluralité de cibles possédant différentes tailles de surfaces de réflexion d'ondes sonores peut être identifiée.
PCT/JP2013/005278 2012-10-19 2013-09-05 Dispositif de détection de distance, procédé de détection de distance et support lisible par ordinateur tangible persistant associé WO2014061192A1 (fr)

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JP2012-231853 2012-10-19
JP2012231853A JP2014085131A (ja) 2012-10-19 2012-10-19 距離検出装置、および距離検出プログラム

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JP6290833B2 (ja) * 2015-08-03 2018-03-07 株式会社Ｓｏｋｅｎ 超音波式物体検知装置
CN117546044A (zh) * 2021-06-30 2024-02-09 株式会社爱信 物体检测装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06300833A (ja) * 1993-04-13 1994-10-28 Yanmar Agricult Equip Co Ltd 超音波式距離検出装置
JPH1183999A (ja) * 1997-09-10 1999-03-26 Hironobu Watanabe 車両の離間検出装置
JP2009248706A (ja) * 2008-04-04 2009-10-29 Calsonic Kansei Corp ブレーキ装置
JP2010256317A (ja) * 2009-04-24 2010-11-11 Avermedia Information Inc 超音波受信モジュール、超音波距離測定システムおよび超音波距離測定方法、並びに書画カメラ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06300833A (ja) * 1993-04-13 1994-10-28 Yanmar Agricult Equip Co Ltd 超音波式距離検出装置
JPH1183999A (ja) * 1997-09-10 1999-03-26 Hironobu Watanabe 車両の離間検出装置
JP2009248706A (ja) * 2008-04-04 2009-10-29 Calsonic Kansei Corp ブレーキ装置
JP2010256317A (ja) * 2009-04-24 2010-11-11 Avermedia Information Inc 超音波受信モジュール、超音波距離測定システムおよび超音波距離測定方法、並びに書画カメラ

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