WO2022260031A1 - 音波処理装置、および超音波システム - Google Patents
音波処理装置、および超音波システム Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 97
- 230000005540 biological transmission Effects 0.000 claims abstract description 77
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 14
- 230000010354 integration Effects 0.000 claims abstract description 10
- 238000002604 ultrasonography Methods 0.000 claims description 19
- 238000000527 sonication Methods 0.000 claims description 7
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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
-
- 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
- G01S7/534—Details of non-pulse systems
-
- 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
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
Definitions
- the present disclosure relates to a sonication device and an ultrasound system.
- waveform data reference wave data
- correlation convolution processing is performed based on the reference wave data and the actually received signal.
- a method for emphasizing the reflected wave is also called a pulse compression method, and can improve the S/N ratio.
- the pulse compression method is described in Patent Document 1, for example.
- in-vehicle clearance sonars have recently been used in an increasing number of vehicle types and purposes, and interference from ultrasonic waves transmitted from other sonars has become a problem.
- the present disclosure aims to provide a sound wave processing device that achieves self-wave identification with an effective configuration.
- the sonication device includes: a transmission signal generator that generates a transmission signal for transmitting sound waves; a received wave signal output unit that outputs a received wave signal based on the received wave of the sound wave; a correlation convolution integration processing unit that performs correlation convolution integration processing in parallel for each of the reference wave data based on the received wave signal and a plurality of reference wave data; A self wave for determining whether a received sound wave is a reflected wave of the sound wave transmitted by the transmission signal generation unit, based on the correlation convolution integral value output from the correlation convolution integration processing unit. an identification unit; It is configured to have
- self-wave identification can be realized with an effective configuration.
- FIG. 1 is a diagram schematically showing a vehicle equipped with an ultrasonic system and an object.
- FIG. 2 is a diagram for explaining an example of correlation processing.
- FIG. 3 is a diagram for explaining an example of correlation processing.
- FIG. 4 is a diagram illustrating a configuration of a reception processing unit according to a comparative example;
- FIG. 1 is a diagram schematically showing a vehicle equipped with an ultrasonic system and an object.
- FIG. 2 is a diagram for explaining an example of correlation processing.
- FIG. 3 is a diagram for explaining an example of correlation processing.
- FIG. 7 is a diagram showing the configuration of an ultrasound system according to the first embodiment.
- FIG. 8 is a diagram showing a specific configuration example of the correlation processing section and the correlation processing value summation section.
- FIG. 9 is a table showing an example of maximum correlation values.
- FIG. 10 is a schematic diagram showing how a vehicle equipped with an ultrasonic system moves.
- FIG. 11A is a diagram showing a received wave signal as a simulation result according to the comparative example (when the vehicle is stopped).
- FIG. 11B is a diagram showing correlation convolution integral values of simulation results according to the comparative example (when the vehicle is stopped).
- FIG. 11A is a diagram showing a received wave signal as a simulation result according to the comparative example (when the vehicle is stopped).
- FIG. 11B is a diagram showing correlation convolution integral values of simulation results according to the comparative example (when the vehicle
- FIG. 12A is a diagram showing a received wave signal as a simulation result according to a comparative example (during vehicle movement).
- FIG. 12B is a diagram showing correlation convolution integral values of simulation results according to the comparative example (during vehicle movement).
- FIG. 13 is a diagram showing the configuration of an ultrasound system according to the third embodiment.
- FIG. 14 is a schematic diagram showing an example in which a vehicle is equipped with a plurality of ultrasonic systems.
- the ultrasonic system according to the embodiment described below is assumed to be installed in a vehicle as an example, and measures the distance between the vehicle and an object to provide an alarm function, an automatic braking function, and an automatic parking function. Can be used for functions, etc.
- FIG. 1 shows a vehicle 500 equipped with an ultrasound system (not shown) and an object (obstacle) 1000 .
- the ultrasonic waves transmitted from the ultrasonic system are reflected by the object 1000 and received by the ultrasonic system as reflected waves.
- reference wave data Dref is prepared in advance.
- the reference wave data Dref is waveform data of a reflected wave that is expected to be received, and is waveform data of the same frequency as the frequency of the transmitted sound wave.
- the frequency of the received reflected wave Rs1 shown in FIG. 2 is the same as the transmission frequency. That is, the reflected wave Rs1 is a self wave. Therefore, in the correlation result C1 obtained by the correlation processing of multiplying the reference wave data Dref and the reflected wave Rs1, the correlation processing value is always a positive value as shown in FIG. This increases the convolution integral value obtained by temporally integrating the correlation result C1.
- the frequency of the received reflected wave Rs2 shown in FIG. 3 deviates from the transmitted wave frequency. That is, the reflected wave Rs2 is a different wave, and the frequency of the reflected wave Rs2 deviates from the frequency of the reference wave data Dref. Therefore, as shown in FIG. 3, in the correlation result C2, there is a period in which the correlation processing value is negative, and the convolution integral value is smaller than in FIG. In this way, self waves and other waves can be discriminated.
- FIG. 4 is a diagram showing the configuration of the reception processing unit 10 according to the comparative example.
- the reception processing unit 10 shown in FIG. 4 has an A/D conversion unit 6, a reference wave storage unit 7, a correlation convolution processing unit 8, and a comparator 9.
- the A/D converter 6 A/D (analog/digital) converts the received wave signal Rsv based on the received ultrasonic waves.
- the reference wave storage unit 7 stores reference wave data having the same frequency as the frequency of ultrasonic waves transmitted from the ultrasonic system including the reception processing unit 10 .
- the correlation convolution processing unit 8 has a correlation processing unit 81 and a correlation processing value summation unit 82 .
- the correlation processor 81 has a buffer (not shown) capable of storing a predetermined number of samples of the received wave signal Rsv converted by the A/D converter 6 .
- the correlation processing unit 81 multiplies the received wave signal Rsv stored in the buffer and the reference wave data for each sample to calculate a correlation processing value.
- the correlation processing value summation unit 82 calculates the correlation convolution integral value by calculating the sum of the correlation processing values for each sample calculated by the correlation processing unit 81 .
- the comparator 9 compares the correlation convolution integral value output from the correlation processing value summation unit 82 with the threshold value Th, and outputs a determination signal Cmpout as a comparison result. When the correlation convolution integral value exceeds the threshold value Th, a determination signal Cmpout indicating that a reflected wave (self wave) based on an ultrasonic wave transmitted from the ultrasonic system including the reception processing unit 10 has been received is output. .
- the reception processing unit 10 calculates the correlation convolution integral value while sequentially storing the received wave signal Rsv in the buffer, and compares the calculated correlation convolution integral value with the threshold value.
- An example of simulation results of the reception processing unit 10 will now be described with reference to FIGS. 5A and 5B and FIGS. 6A and 6B.
- FIG. 5A and 5B are simulation results when an ultrasonic wave of 58 kHz is transmitted as an example from an ultrasonic system including the reception processing unit 10, and a reflected wave based on the transmitted ultrasonic wave is received.
- FIG. 5A shows the waveform of the received wave signal Rsv.
- FIG. 5B shows the correlation convolution processing result based on the received wave signal Rsv.
- the left side in FIG. 5B shows the case where the reference wave data is 57 kHz
- the right side shows the case where the reference wave data is 58 kHz.
- the correlation convolution integral value becomes a waveform that oscillates between positive and negative.
- FIG. 6A shows the received wave signal Rsv
- FIG. 6B shows the correlation convolution processing result.
- the power of the transmitted ultrasonic wave is attenuated before being reflected by the object and received, so the absolute value of the correlation convolution integral value decreases.
- the amplitudes of the waveforms shown in FIGS. 5B and 6B are reduced.
- control is required to dynamically change the threshold value Th according to the distance.
- FIG. 7 is a diagram showing the configuration of an ultrasound system 100 according to the first embodiment.
- the ultrasonic system 100 has an ultrasonic processing device 1, an ultrasonic transmission/reception device 5, and a transformer Tr.
- the ultrasonic transmission/reception device 5 is externally connected to the ultrasonic processing device 1 via a transformer Tr.
- the transformer Tr may not necessarily be provided.
- the sound wave processing device 1 is a semiconductor device having a driver section 2, an analog front end 3, and a digital processing section 4 integrated on one chip.
- the driver section 2 has a DA circuit 21 .
- the DA circuit 21 D/A converts the transmission signal output from the transmission signal generation circuit 41 included in the digital processing unit 4 from a digital signal to an analog signal.
- the DA circuit 21 is connected to the primary side of the transformer Tr via external terminals T1 and T2.
- the ultrasonic transmission/reception device 5 is connected to the secondary side of the transformer Tr.
- the ultrasonic transmission/reception device 5 has a piezoelectric element (not shown) and transmits and receives ultrasonic waves. That is, the ultrasonic transmission/reception device 5 functions both as a sound source and as a reception section.
- the analog front end 3 (received signal output section) has an LNA (low noise amplifier) 31, an LPF (low pass filter) 32, and an A/D converter 33.
- LNA low noise amplifier
- LPF low pass filter
- A/D converter 33 The primary side of transformer Tr is connected to LNA 31 via external terminals T3 and T4.
- the output of LNA 31 is input to A/D converter 33 via LPF 32 .
- the digital processing unit 4 includes a transmission signal generation circuit 41, a register (reference wave storage unit) 42, a correlation convolution processing unit 43, a self wave identification unit 44, a BPF (band pass filter) 45, and an envelope detection. It has a unit 46 , a comparator 47 , a TOF measuring unit 48 and a serial interface 49 .
- the register 42 stores reference wave data Ref1 to RefN (N: an integer equal to or greater than 2). That is, the register 42 stores a plurality of reference wave data.
- the reference wave data Ref1 to RefN are waveform data of adjacent frequencies including the frequency of ultrasonic waves transmitted from the ultrasonic transmission/reception device 5 by the transmission signal generation circuit 41 (hereinafter referred to as transmission frequency).
- the neighboring frequencies include frequencies offset from the transmission frequency by 1 kHz.
- the reference wave data Ref1 55 kHz
- Ref2 56 kHz
- Ref3 57 kHz
- Ref4 58 kHz
- Ref5 59 kHz
- Ref6 60 kHz
- 1 kHz is an example of the deviation between adjacent frequencies, the deviation may be selectable.
- the BPF 45 extracts and outputs a signal in a predetermined band from the received wave signal output from the A/D converter 33 .
- the predetermined band is a band including the transmission frequency. As a result, it is possible to remove a received wave signal having a frequency greatly deviated from the transmitted wave frequency.
- the predetermined band may be selectable. For example, a transmission frequency of ⁇ 1 kHz to ⁇ 8 kHz may be selectable.
- the envelope detection unit 46 detects the envelope of the received wave signal output from the BPF 45 and outputs the detected envelope.
- a comparator 47 compares the detected envelope with a predetermined threshold Th47 and outputs the comparison result.
- the envelope detector 46 and comparator 47 can detect that an ultrasonic wave having a certain level of power has been received, and as will be described later, it is possible to avoid self-wave determination during a no-signal period.
- the correlation convolution processing unit 43 has a correlation processing unit 431 and a correlation processing value summation unit 432 .
- the correlation processing unit 431 has a buffer (not shown) capable of storing a predetermined number of samples of the received wave signal output from the BPF 45 .
- the correlation processing unit 431 multiplies the received wave signal stored in the buffer and each of the reference wave data Ref1 to RefN for each sample to calculate a correlation processing value. That is, correlation processing values are calculated for each of the reference wave data Ref1 to RefN.
- the correlation processing value summation unit 432 calculates the correlation convolution integral value by calculating the sum of the correlation processing values for each sample calculated by the correlation processing unit 431 for each of the reference wave data Ref1 to RefN. That is, the correlation convolution integral value is calculated for each of the reference wave data Ref1 to RefN.
- FIG. 8 is a diagram showing a specific configuration example of the correlation processing unit 431 and the correlation processing value summation unit 432.
- the correlation processing section 431 has a shift register SR and multiplication sections M0 to Mn.
- the shift register SR functions as a buffer.
- the shift register SR has a group of flip-flops DF0-DFn.
- Each of the flip-flop groups DF0 to DFn is composed of D flip-flops as many as the number of bits of the received wave signal fin(t). For example, when the wave reception signal fin(t) is 12 bits, each of the flip-flop groups DF0 to DFn consists of 12 D flip-flops.
- the flip-flop groups DF0 to DFn are arranged in order from the front stage.
- a received wave signal fin(t) is input to the input terminal of the flip-flop group DF0.
- the output end of the front stage and the input end of the rear stage are connected.
- a clock signal CK is input to the clock terminal of each of the flip-flop groups DF0 to DF.
- each output of the flip-flop group DF0 to DFn is bit-shifted from the front stage side to the rear stage side each time a pulse of the clock signal CK is input.
- Outputs fin(t-0) to fin(tn) of flip-flop groups DF0 to DFn are input to multipliers M0 to Mn, respectively.
- the reference wave data Table(0) to Table(n) stored in the register 42 are also input to the multipliers M0 to Mn.
- bit data of the wave reception signals fin(t ⁇ 0) to fin(t ⁇ n) stored by the shift register SR for (n+1) pieces and the reference wave data Table(0) to Table(n) are multiplied by Multiplied by M0 to Mn, correlation processed values fconv(t-0) to fconv(tn) are output.
- the number of (n+1) pieces is set based on the transmission time (number of waves) of the transmission signal and the sampling frequency of the reception signal, and is set so as to capture at least the reception signal for the transmission time. is desirable.
- the correlation processing value summation unit 432 has a summation calculation unit SUM.
- the sum calculation unit SUM calculates the sum of the obtained correlation processed values fconv(t ⁇ 0) to fconv(t ⁇ n) to output a correlation convolution integral value.
- multipliers M0 to Mn and the summation calculator SUM are provided for each of the reference wave data Ref1 to RefN. That is, N multiplication units M0 to Mn and N total sum calculation units SUM are provided. Thereby, the correlation convolution integral value is calculated for each of the reference wave data Ref1 to RefN.
- the correlation convolution processing unit 43 performs correlation convolution processing in parallel for each of the reference wave data Ref1 to RefN.
- the self-wave identification unit 44 has a maximum correlation acquisition unit 44A and a determination unit 44B. Based on the output from the comparator 47, the correlation maximum value acquisition unit 44A determines the period during which the envelope detected by the envelope detection unit 46 exceeds the threshold Th47 (the period from when the envelope exceeds the threshold Th47 until it becomes equal to or less than the threshold Th47). period), the maximum value (maximum correlation value) of the correlation convolution integral values output from the correlation processing value summation unit 432 is obtained. A maximum correlation value is obtained for each of the reference wave data Ref1 to RefN. For the maximum correlation value, it is desirable to obtain the maximum absolute value of the correlation convolution integral value. However, among the positive and negative values of the correlation convolution integral value, only the positive maximum value or only the negative absolute value may be obtained.
- the determination unit 44B Based on the correlation maximum value acquired by the correlation maximum value acquisition unit 44A, the determination unit 44B causes the ultrasonic wave received by the ultrasonic wave transmission/reception device 5 to be transmitted from the ultrasound transmission/reception device 5 by the transmission signal generation circuit 41. It is determined whether or not it is a reflected wave (self wave) based on the ultrasonic wave.
- the determination unit 44B determines whether the frequency of the reference wave data having the maximum value among the correlation maximum values for each of the reference wave data Ref1 to RefN matches the transmission wave frequency. It is determined whether or not.
- the maximum correlation value (94" or "86") is 58 kHz, which is the transmission frequency, and can be determined to be the self wave.
- the determination unit 44B obtains the top three correlation maximum values among the correlation maximum values for each of the reference wave data Ref1 to RefN, and the frequencies of the obtained correlation maximum values are In the case of three adjacent frequencies, it is determined whether or not the frequency is the self wave depending on whether or not the intermediate frequency of the adjacent frequencies is the transmission frequency.
- the determination is made based on whether the top three frequencies of the acquired maximum correlation values are adjacent frequencies of 57 kHz, 58 kHz, and 59 Hz.
- the top three correlation maximum values are adjacent frequencies of 57 kHz, 58 kHz, and 59 Hz, and thus can be determined to be self waves.
- the maximum correlation value of the transmission frequency and the maximum correlation value of frequencies adjacent to the transmission frequency fluctuate, so that the maximum correlation value of the transmission frequency becomes the reference wave data. Even if the maximum correlation value for each of Ref1 to RefN is not maximized, erroneous determination that the wave is not the self wave is suppressed.
- relative evaluation is performed on the correlation convolution integral values for each of the reference wave data Ref1 to RefN, instead of the absolute evaluation comparing the correlation convolution integral values with the threshold as in the comparative example.
- the TOF measurement unit 48 uses a counter 481 to measure the time (TOF) from the transmission of ultrasonic waves to the reception of reflected waves from the object.
- the counter 481 starts counting when the wave transmission signal generation circuit 41 starts transmitting waves. Then, the TOF measurement unit 48 keeps the counter 481 counting until the determining unit 44B determines that the self wave is generated. Hold.
- the held count value corresponds to TOF, and the distance to the object can be specified by TOF and sound velocity.
- the serial interface 49 conforms to DSI3 as an example, and communicates with an external ECU (vehicle electronic control unit) (not shown) via an external terminal T5.
- the count value held above is sent by the interface 49 to the ECU.
- Second Embodiment> The method of comparing the correlation convolution integral value of the single reference wave data and the received wave signal with the threshold as in the above comparative example (FIG. 4) also has the following problems. As shown in FIG. 10, when a vehicle 500 equipped with an ultrasonic system including the reception processing unit 10 according to the comparative example moves, or when an object 1000 moves, ultrasonic waves transmitted by the Doppler effect A phenomenon (Doppler shift) occurs in which an ultrasonic wave with a frequency shifted from the frequency of is received.
- Doppler shift A phenomenon
- f ((V-v0)(V+vs)/(V+v0)(V-vs)) ⁇ f0 (1)
- V sound velocity
- vs sound source velocity
- v0 object velocity
- f0 transmitted wave frequency
- FIG. 11A shows the waveform of the received wave signal Rsv.
- FIG. 11B shows the correlation convolution processing result based on the received wave signal Rsv.
- the left side in FIG. 11B shows the case where the reference wave data is 58 kHz
- the right side shows the case where the reference wave data is 59 kHz.
- the frequency of the received wave signal is equal to the transmitted wave frequency of 58 kHz. Therefore, as shown in FIG. It can be determined to be the self wave by comparison with the threshold value Th.
- FIGS. 12A and 12B are simulation results when the vehicle is approaching the object at 20 km/h (while the object is stopped).
- FIG. 12A shows the waveform of the received wave signal Rsv.
- FIG. 12B shows the correlation convolution processing result based on the received wave signal Rsv.
- the left side in FIG. 12B shows the case where the reference wave data is 58 kHz, and the right side shows the case where the reference wave data is 59 kHz.
- the Doppler effect causes the frequency of the received wave signal to be 58.9 kHz, which deviates from the transmitted wave frequency of 58 kHz.
- the threshold value Th there is a risk of erroneous determination that the wave is not the self wave due to comparison with the threshold value Th.
- the configuration of the ultrasound system according to the second embodiment is the same as that of the first embodiment (FIG. 7) described above.
- the wave is transmitted twice, and the processing by the self-wave identification unit 44 is as follows.
- the correlation maximum value acquisition unit 44A acquires the correlation maximum value for each reference wave data in the same manner as in the first embodiment during the first wave transmission.
- the determination unit 44B identifies the frequency of the reference wave data that maximizes the obtained correlation maximum value.
- the correlation maximum value acquisition unit 44A acquires the correlation maximum value for each reference wave data in the same manner as in the first embodiment during the second wave transmission.
- the determination unit 44B identifies the frequency of the reference wave data that maximizes the obtained correlation maximum value. Then, if the frequency specified during the first wave transmission is the same as the frequency specified during the second wave transmission, the determination unit 44B determines that the received ultrasonic wave is the self wave.
- the frequency specified during the first wave transmission and the frequency specified during the second wave transmission are both 59 kHz. It can be determined that there is
- processing in the self-wave identification 44 may be performed as follows.
- the correlation maximum value acquisition unit 44A acquires the correlation maximum value for each reference wave data in the same manner as in the first embodiment during the first wave transmission. If the top three frequencies among the acquired maximum correlation values are three adjacent frequencies, the determination unit 44B identifies the intermediate frequency between the three frequencies.
- the correlation maximum value acquisition unit 44A acquires the correlation maximum value for each reference wave data in the same manner as in the first embodiment during the second wave transmission.
- the determination unit 44B identifies the frequency of the acquired maximum correlation value in the same manner as in the first wave transmission. Then, if the frequency specified during the first wave transmission is the same as the frequency specified during the second wave transmission, the determination unit 44B determines that the received ultrasonic wave is the self wave.
- the number of transmissions is not limited to two, and may be three or more.
- FIG. 13 is a diagram showing the configuration of an ultrasound system 100 according to the third embodiment.
- the configuration shown in FIG. 13 differs from the second embodiment (FIG. 7) in that it does not have an envelope detector 46 and a comparator 47, and the configuration of the self-wave identification unit 44 is different.
- the self-wave identification section 44 has a comparator 44C and a determination section 44D.
- the transmission signal generation circuit 41 continuously transmits ultrasonic waves of a first frequency (eg, 58 kHz) and ultrasonic waves of a second frequency (eg, 56 kHz) different from the first frequency from the ultrasonic transmission/reception device 5. send waves.
- a first frequency eg, 58 kHz
- a second frequency eg, 56 kHz
- the comparator 44C compares the correlation convolution integral value for each reference wave data output from the correlation processing value summation unit 432 with a predetermined threshold value. If the shift from the first frequency and the shift from the second frequency of the frequency of the reference wave data whose correlation convolution integral value exceeds the threshold are in the same direction and by the same amount, the determining unit 44D receives the wave. Ultrasonic waves are determined to be self waves.
- the first frequency is 58 kHz and the second frequency is 56 kHz
- the received reflected waves are shifted from the first frequency and the second frequency to 59 kHz and 57 kHz due to the influence of the Doppler effect
- the respective shifts are in the same direction. , it can be determined to be the self wave.
- the self-wave can be identified by one transmission while suppressing the influence of the Doppler effect.
- the frequencies of the ultrasonic waves that are continuously transmitted may be three or more frequencies.
- FIG. 14 shows, as an example, a state in which a plurality of ultrasonic systems including the ultrasonic system 100 according to each embodiment described above are mounted on the front end of a vehicle 30 .
- ultrasound systems 301 - 303 are mounted on vehicle 30 .
- Each of the ultrasonic system 100 and the ultrasonic systems 301 to 303 may sequentially perform ultrasonic wave transmission and TOF measurement.
- the vehicle 30 may unnecessarily approach the object.
- the ultrasonic system 100 and the ultrasonic systems 301 to 303 perform ultrasonic wave transmission and TOF measurement in parallel.
- ultrasonic waves transmitted from the ultrasonic system 100 are reflected by the object 351, and other ultrasonic waves transmitted from other ultrasonic systems 301 and 302 are reflected.
- the ultrasonic system 100 may receive reflected waves of the ultrasonic waves reflected by the objects 352 and 353 respectively.
- the ultrasonic waves transmitted from the ultrasonic systems 301 and 302 have a frequency different from the transmission frequency set in the own ultrasonic system 100 (or a different frequency in the third embodiment). combination), it is possible to avoid interference by ultrasonic waves from the other ultrasonic systems 301 and 302 by determination by the self-wave identification unit 44 .
- the driver unit 2 may be connected with an ultrasonic transmitter for transmitting waves
- the analog front end 3 may be connected with an ultrasonic receiver for receiving waves other than the ultrasonic transmitter.
- the sound source and the receiving section may not be the same device.
- the ultrasonic system including the sonication device can be mounted on a moving body other than a vehicle, for example, it may be mounted on an unmanned carrier robot or a service robot that transports luggage. Also, the ultrasound system may be mounted on a stationary object instead of a mobile object.
- the sound wave processing device (1) includes a transmission signal generation unit (41) that generates a transmission signal for transmitting sound waves, a received wave signal output unit (3) that outputs a received wave signal based on the received wave of the sound wave; a correlation convolution processing unit (43) that performs correlation convolution integral processing in parallel for each of the reference wave data based on the received wave signal and a plurality of reference wave data (Ref1 to RefN); A self wave for determining whether a received sound wave is a reflected wave of the sound wave transmitted by the transmission signal generation unit, based on the correlation convolution integral value output from the correlation convolution integration processing unit.
- an identification unit (44) (first configuration).
- the self-wave identification unit (44) includes a correlation maximum value acquisition unit ( 44A) and a determination unit (44B) that determines whether the wave is a self wave based on the relative evaluation of the acquired maximum correlation value (second configuration).
- the determination unit (44B) may be configured to specify the frequency of the reference wave data at which the acquired maximum correlation value is the maximum (third configuration).
- the determination unit (44B) when the frequencies of the reference wave data in the top three of the acquired maximum correlation values are three adjacent frequencies, the determination unit (44B) It is also possible to use a configuration that specifies an intermediate frequency between the frequencies to be detected (fourth configuration).
- an envelope detector (46) for extracting an envelope from the received wave signal
- a comparator (47) for comparing the extracted envelope with a predetermined threshold. and , wherein the predetermined period is a period from when the envelope exceeds the threshold to when it becomes equal to or less than the threshold (fifth configuration).
- the fifth configuration may further include a bandpass filter (45) for extracting a signal of a predetermined band from the received wave signal and outputting it to the envelope detection section (sixth configuration).
- a bandpass filter 45 for extracting a signal of a predetermined band from the received wave signal and outputting it to the envelope detection section (sixth configuration).
- the maximum correlation value may be the maximum absolute value of the correlation convolution integral value (seventh configuration).
- the transmission signal generator (41) transmits waves a plurality of times, and the self-wave identifier (44) determines that the correlation convolution integral value is If the increasing frequency of the reference wave data is the same for the plurality of transmissions, it may be determined to be the self wave (eighth configuration).
- the transmission signal generator (41) continuously transmits sound waves of a plurality of frequencies, and the self-wave identification unit (44) If the frequency of the reference wave data that increases the correlation convolution integral value is shifted in the same direction and by the same amount from the plurality of frequencies, it may be determined to be the self wave (ninth configuration).
- first external terminals T1, T2 enabling connection between the transmission signal generator (41) and an external ultrasonic transmission/reception device (5).
- second external terminals T3, T4 enabling connection between the ultrasonic transmission/reception device and the received wave signal output section (3) (tenth configuration).
- the ultrasound system (100) has a configuration including the ultrasound processing device (1) of the tenth configuration and the ultrasound transmission/reception device (5) (eleventh configuration).
- the sound wave processing device (1) having any one of the first to tenth configurations may be mountable on a vehicle (twelfth configuration).
- the ultrasonic system includes a first ultrasonic system (100) including the ultrasonic processing device (1) having the twelfth configuration, and at least one other second ultrasonic system (301, 302 , 303) and can be mounted on the vehicle, wherein the first ultrasonic system and the second ultrasonic system transmit ultrasonic waves and measure TOF (Time Of Flight) It is good also as a structure performed in parallel.
- the present disclosure can be used, for example, in an in-vehicle ultrasonic system.
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Abstract
Description
音波の送波のための送波信号を生成する送波信号生成部と、
音波の受波に基づく受波信号を出力する受波信号出力部と、
前記受波信号と複数の参照波データに基づいて前記参照波データごとに並列的に相関畳み込み積分処理を行う相関畳み込み積分処理部と、
前記相関叩き込み積分処理部から出力される相関畳み込み積分値に基づき、受波された音波が前記送波信号生成部によって送波された音波の反射波である自波であるかを判定する自波識別部と、
を有する構成としている。
まず、超音波システムで用いる相関処理の概要について説明する。図1には、超音波システム(不図示)を搭載した車両500と、対象物(障害物)1000とが示されている。超音波システムから送波された超音波は、対象物1000で反射して反射波として超音波システムにより受波される。
ここで、実施形態について説明する前に、実施形態との比較をするための比較例について説明する。図4は、比較例に係る受信処理部10の構成を示す図である。図4に示す受信処理部10は、A/D変換部6と、参照波格納部7と、相関畳み込み積分処理部8と、比較器9と、を有している。
上記比較例における課題を解決すべく、以下に説明する第1実施形態が実施される。図7は、第1実施形態に係る超音波システム100の構成を示す図である。
上記比較例(図4)のように単一の参照波データと受波信号による相関畳み込み積分値を閾値と比較する方法には、次のような課題もある。図10に示すように、比較例に係る受信処理部10を含む超音波システムが搭載された車両500が移動する場合、または対象物1000が移動する場合に、ドップラー効果により、送波した超音波の周波数からずれた周波数の超音波が受波される現象(ドップラーシフト)が生じる。
f=((V-v0)(V+vs)/(V+v0)(V-vs))・f0 (1)
ただし、f:受波周波数、V:音速、vs:音源速度、v0:対象物速度、f0:送波周波数
ここで説明する第3実施形態は、第2実施形態と同様、ドップラー効果の影響による課題を解決すべく実施される。図13は、第3実施形態に係る超音波システム100の構成を示す図である。図13に示す構成は、第2実施形態(図7)と比べて、エンベロープ検出部46および比較器47を有さないこと、および自波識別部44の構成が異なっていることが相違している。本実施形態においては、自波識別部44は、比較器44Cと、判定部44Dと、を有する。
図14には、一例として車両30の前端部に先述した各実施形態に係る超音波システム100を含む複数の超音波システムが搭載された状態を示す。超音波システム100の他に、超音波システム301~303が車両30に搭載される。超音波システム100、および超音波システム301~303の各々が順番に超音波の送波およびTOF計測を行ってもよいが、その場合、同一の超音波システムにおける対象物までの距離測定の頻度が低下し、例えば車両30が対象物に不要に接近する虞がある。
以上、実施形態について説明したが、本発明の趣旨の範囲内であれば、実施形態は種々の変形が可能である。
以上のように、例えば、本開示に係る音波処理装置(1)は、音波の送波のための送波信号を生成する送波信号生成部(41)と、
音波の受波に基づく受波信号を出力する受波信号出力部(3)と、
前記受波信号と複数の参照波データ(Ref1~RefN)に基づいて前記参照波データごとに並列的に相関畳み込み積分処理を行う相関畳み込み積分処理部(43)と、
前記相関叩き込み積分処理部から出力される相関畳み込み積分値に基づき、受波された音波が前記送波信号生成部によって送波された音波の反射波である自波であるかを判定する自波識別部(44)と、
を有する構成としている(第1の構成)。
2 ドライバ部
3 アナログフロントエンド
4 デジタル処理部
5 超音波送受信装置
6 A/D変換部
7 参照波格納部
8 相関畳み込み積分処理部
9 比較器
10 受信処理部
21 DA回路
30 車両
31 ローノイズアンプ
32 ローパスフィルタ
33 A/Dコンバータ
41 送波信号生成回路
42 レジスタ
43 相関畳み込み積分処理部
44 自波識別部
44A 相関最大値取得部
44B 判定部
44C 比較器
44D 判定部
46 エンベロープ検出部
47 比較器
48 TOF計測部
49 シリアルインタフェース
81 相関処理部
82 相関処理値和算部
100 超音波システム
301~303 超音波システム
351~353 対象物
431 相関処理部
432 相関処理値和算部
481 カウンタ
500 車両
1000 対象物
DF0~DFn フリップフロップ群
M0~Mn 乗算部
SR シフトレジスタ
SUM 総和算出部
T1~T5 外部端子
Tr トランス
Claims (13)
- 音波の送波のための送波信号を生成する送波信号生成部と、
音波の受波に基づく受波信号を出力する受波信号出力部と、
前記受波信号と複数の参照波データに基づいて前記参照波データごとに並列的に相関畳み込み積分処理を行う相関畳み込み積分処理部と、
前記相関叩き込み積分処理部から出力される相関畳み込み積分値に基づき、受波された音波が前記送波信号生成部によって送波された音波の反射波である自波であるかを判定する自波識別部と、
を有する、音波処理装置。 - 前記自波識別部は、
前記参照波データごとに所定期間における前記相関畳み込み積分値の最大値(相関最大値)を取得する相関最大値取得部と、
取得された前記相関最大値の相対評価に基づいて自波であるかを判定する判定部と、
を有する、請求項1に記載の音波処理装置。 - 前記判定部は、取得された前記相関最大値が最大となる前記参照波データの周波数を特定する、請求項2に記載の音波処理装置。
- 前記判定部は、取得された前記相関最大値の上位3つにおける前記参照波データの周波数が3つの隣接する周波数である場合に、前記3つの隣接する周波数の中間の周波数を特定する、請求項2に記載の音波処理装置。
- 前記受波信号からエンベロープを抽出するエンベロープ検出部と、
抽出された前記エンベロープと所定の閾値とを比較する比較器と、をさらに有し、
前記所定期間は、前記エンベロープが前記閾値を上回るときから前記閾値以下となるまでの期間である、請求項2から請求項4のいずれか1項に記載の音波処理装置。 - 前記受波信号から所定帯域の信号を抽出して前記エンベロープ検出部に出力するバンドパスフィルタをさらに有する、請求項5に記載の音波処理装置。
- 前記相関最大値は、前記相関畳み込み積分値の絶対値の最大値である、請求項2から請求項6のいずれか1項に記載の音波処理装置。
- 前記送波信号生成部は、複数回の送波を行い、
前記自波識別部は、前記相関畳み込み積分値が大きくなる前記参照波データの周波数が、前記複数回の送波で同じである場合、自波であると判定する、請求項1から請求項7のいずれか1項に記載の音波処理装置。 - 前記送波信号生成部は、複数の周波数の音波を連続して送波し、
前記自波識別部は、前記相関畳み込み積分値が大きくなる前記参照波データの周波数が、前記複数の周波数から同じ方向かつ同じ量でシフトしている場合、自波であると判定する、請求項1から請求項7のいずれか1項に記載の音波処理装置。 - 前記送波信号生成部と外部の超音波送受信装置との接続を可能とする第1外部端子と、
前記超音波送受信装置と前記受波信号出力部との接続を可能とする第2外部端子と、を有する、請求項1から請求項9のいずれか1項に記載の音波処理装置。 - 請求項10に記載の音波処理装置と、前記超音波送受信装置と、を有する、超音波システム。
- 車両に搭載可能である請求項1から請求項10のいずれか1項に記載の音波処理装置。
- 請求項12に記載の音波処理装置を含んだ第1超音波システムと、その他の少なくとも一つの第2超音波システムと、を有して前記車両に搭載可能な超音波システムであり、
前記第1超音波システムと前記第2超音波システムは、超音波の送波およびTOF(Time Of Flight)計測を並行して行う、超音波システム。
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