CN1862288A

CN1862288A - Obstacle detection device

Info

Publication number: CN1862288A
Application number: CN 200610078570
Authority: CN
Inventors: 竹市真和; 牧野将久; 堀川健一郎
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2005-05-10
Filing date: 2006-05-10
Publication date: 2006-11-15
Anticipated expiration: 2026-05-10
Also published as: JP4305412B2; CN100504439C; JP2006317185A

Abstract

An obstacle detection device has detection units, each of which performs a signal transmission-reception operation; an operation control unit for controlling the detection unit so that the detection unit performs the signal transmission-reception operation responding to at least one of a plurality of kinds of operation timing signals repeated at a predetermined periodicity, and a determination unit which counts a number of continuous reception times of the reflection signal of the detection unit and determines an obstacle detection in the detection area when the number of the continuous reception times thereof is larger than or equal to a predetermined value. The transmission-reception operation of the detection unit which commenced to receive the reflection signal is provided by the operation control unit with the operation timing signal having a periodicity shorter than the predetermined periodicity.

Description

Obstacle detection device

Technical field

The present invention relates to be used for the obstacle detection device of test example such as vehicle periphery obstacle.This obstacle detection device can be determined obstacle detection with the time that shortens.

Background technology

Generally speaking, for example with reference to US5808968 (JP-3221821-B2), a kind of obstacle detection device that is used to detect the vehicle periphery obstacle provides a plurality of sonacs that are provided with at the front bumper of vehicle and rear bumper arm.Sonac provides the ultrasound emission-reception operation in response to one of multiple time sequential routine signal, and every kind of time sequential routine signal is with predetermined period repeatedly.A plurality of detection zones of vehicle periphery are distributed to sonac.The operation of the ultrasound emission of sonac-reception comprises and the ultrasonic pulse string is sent to the detection zone of distributing to it and receives from the ultrasonic pulse string (reflection wave) of detection zone reflection.

Having obstacle to be present under the situation in the detection zone, the sonac that is assigned detection zone will receive the reflection wave by the obstacle reflection.So, can detect the obstacle in this detection zone, and carry out information operating in order to notify obstacle to exist to the vehicle driver.Sonac also receives the information outside the reflection wave, just noise.In order to eliminate noise effect, when receiving reflection wave, the sonac continuous several times carries out above-mentioned information operating.

Preferably in error message due to eliminating noise, determine obstacle detection as early as possible.Therefore, after a sonac begins to receive reflection wave, for this sonac, be necessary during the short time, repeatedly to carry out the send-receive operation.On the other hand, for the sonac (being different from this sonac) of the detection zone of wherein determining obstacle detection, during the short time, carry out the necessity step-down of send-receive operation, because wherein have obstacle to driver's notice.In the case, for the execution of the send-receive operation of this ultrasonic sensor that begins to receive reflection wave (just determining obstacle detection as yet), then preferably have precedence over and repeatedly received reflection wave and make another sonac of determining obstacle detection via this detecting unit.So, can determine obstacle detection early via this sonac that begins to receive reflection wave.

Yet, obstacle detection device according to reference US5808968 (JP-3221821-B2), regardless of the progress of determining via the obstacle detection of the sonac reflection wave accepting state of sonac (just regardless of), still ultrasound emission-receptions of carrying out sonac with predetermined period operated.So, be difficult to carry out early obstacle detection to be determined.

Summary of the invention

In view of above-mentioned deficiency, the purpose of this invention is to provide the obstacle detection device that in error message due to the limit noise, to determine obstacle detection early.

According to the present invention, a kind of obstacle detection device has: a plurality of detecting units, be assigned to a plurality of detection zones respectively in order to carry out the send-receive operation, each send-receive operation comprises that the transmission detection signal is to the detection zone of distributing to it and the reflected signal that receives from detection zone; Operation control unit, control detection unit make detecting unit in response to carry out the operation of signal send-receive with in predetermined period a plurality of time sequential routine signals repeatedly at least one; And determining unit, the reflected signal of each detecting unit is received number of times continuously count, and, determine the obstacle detection in distributing to the detection zone of detecting unit when the continuous reception number of times of detecting unit during more than or equal to predetermined value.The time sequential routine of signal send-receive operation that begins to receive the detecting unit of reflected signal provides the cycle shorter than predetermined period by operation control unit.

So, beginning to receive under the situation of reflected signal at a detecting unit, the send-receive of detecting unit operation subsequent cycle changes into be shorter than the predetermined period that detecting unit is responded when not receiving reflected signal.When the reflected signal of detecting unit receives number of times continuously more than or equal to predetermined value, determine in distributing to the detection zone of detecting unit, to have obstacle.

Therefore, can determine obstacle detection early in the limit noise effect of signals.In addition, the cycle in time sequential routine can change according to different fundamental purposes, and for example fundamental purpose is to shorten and is determining the time that passes before the obstacle detection and be to eliminate influence such as noise signal.

Preferably, in turn carry out the send-receive operation of a plurality of detecting units.When a detecting unit begins to receive reflected signal, the subsequent cycle in this time sequential routine that detecting unit responded is controlled to be and is shorter than predetermined period, and the periodic Control in the time sequential routine different with the time sequential routine of this detecting unit is for being longer than predetermined period, and its condition is to have determined that be continuous via the obstacle detection of another detecting unit and this another detecting unit to the reception of reflected signal.This another detecting unit is carried out the send-receive operation with the time sequential routine different with the time sequential routine of this detecting unit.

So, when a detecting unit begins to receive reflected signal, the time sequential routine periodic transformation of this detecting unit is for being shorter than predetermined period, and the cycle in time sequential routine of another detecting unit become and be longer than predetermined period, its condition is to have determined that be continuous via the obstacle detection of this another detecting unit and this another detecting unit to the reception of reflected signal.This another detecting unit is carried out the send-receive operation with the time sequential routine different with the time sequential routine of this detecting unit.

Therefore, the execution of send-receive operation that begins to receive the detecting unit (just determining the obstacle detection via detecting unit as yet) of reflection wave has precedence over the execution of the send-receive operation of the detecting unit that has been determined via its obstacle detection.So, can carry out obstacle detection to be determined early.

In addition, the cycle in time sequential routine can change according to different fundamental purposes, and for example fundamental purpose is to shorten and is determining the time that passes before the obstacle detection and be to eliminate influence such as noise.

More preferably, in turn carry out the send-receive operation of a plurality of detecting units.When a detecting unit begins to receive reflected signal, the subsequent cycle average in this time sequential routine that detecting unit responded is controlled to be and is shorter than predetermined period, and the cycle delay scheduled period in the time sequential routine different with the time sequential routine of this detecting unit, its condition is to have determined that be continuous via the obstacle detection of another detecting unit and this another detecting unit to the reception of reflected signal.This another detecting unit is carried out the send-receive operation with the time sequential routine different with the time sequential routine of this detecting unit.

So, when a detecting unit begins to receive reflected signal, wherein the time sequential routine of another detecting unit of being determined of obstacle detection postpones the scheduled period, and the send-receive of this detecting unit operates in this scheduled period and carries out, and its condition is to have determined that be continuous via the obstacle detection of this another detecting unit and this another detecting unit to the reception of reflected signal.This another detecting unit is carried out the send-receive operation with the time sequential routine different with the time sequential routine of this detecting unit.

Therefore, the execution of send-receive operation that begins to receive the detecting unit of reflection wave has precedence over the execution of the send-receive operation of the detecting unit that has been determined via its obstacle detection.So, can carry out obstacle detection to be determined early.

Description of drawings

According to the following detailed description that the reference accompanying drawing carries out, above and other purpose of the present invention, feature and advantage will become more obvious, in the accompanying drawings:

Fig. 1 is the synoptic diagram that illustrates according to the obstacle detection device unitary construction of first embodiment of the invention;

Fig. 2 A illustrates the time diagram in send-receive operating cycle when not having sonac to receive reflection wave according to first embodiment, and Fig. 2 B, 2C and 2D are the time diagrams that illustrates respectively according to first embodiment various transformations of send-receive operating cycle when sonac receives reflection wave;

Fig. 3 A illustrates according to first embodiment remodeling time diagram in send-receive operating cycle when not having sonac to receive reflection wave, and Fig. 3 B illustrates according to first embodiment remodeling time diagram that the send-receive operating cycle changes when sonac receives reflection wave;

Fig. 4 is the synoptic diagram that illustrates according to the obstacle detection device unitary construction of second embodiment of the invention;

Fig. 5 A is the synoptic diagram that illustrates according to the A group send-receive operand of second embodiment, Fig. 5 B is the synoptic diagram that illustrates according to the B group send-receive operand of second embodiment, and Fig. 5 C is the synoptic diagram that illustrates according to the C group send-receive operand of second embodiment;

Fig. 6 A illustrates the time diagram in send-receive operating cycle when not having sonac to receive reflection wave according to second embodiment, and Fig. 6 B illustrates the time diagram that the send-receive operating cycle changes when sonac receives reflection wave according to second embodiment;

Fig. 7 is the synoptic diagram that illustrates according to the obstacle detection device unitary construction of third embodiment of the invention;

Fig. 8 A illustrates the time diagram in send-receive operating cycle when not having sonac to receive reflection wave according to the 3rd embodiment, and Fig. 8 B and 8C are the time diagrams that illustrates respectively according to the 3rd embodiment various transformations of send-receive operating cycle when sonac receives reflection wave;

Fig. 9 A and 9B are the time diagrams that illustrates according to the 3rd embodiment other transformations of send-receive operating cycle when sonac receives reflection wave;

Figure 10 is the time diagram that illustrates according to the 3rd embodiment other other transformations of send-receive operating cycle when sonac receives reflection wave;

Figure 11 is the synoptic diagram that illustrates according to the obstacle detection device unitary construction of fourth embodiment of the invention;

Figure 12 A is the synoptic diagram that illustrates according to the A group send-receive operand of the 4th embodiment, and Figure 12 B is the synoptic diagram that illustrates according to the B group send-receive operand of the 4th embodiment; And

Figure 13 A illustrates the time diagram in send-receive operating cycle when not having sonac to receive reflection wave according to the 4th embodiment, and Figure 13 B and 13C are the time diagrams that illustrates respectively according to the 4th embodiment various transformations of send-receive operating cycle when sonac receives reflection wave.

Embodiment

Exemplary embodiment is described with reference to the accompanying drawings.

[first embodiment]

With reference to Fig. 1-3B obstacle detection device according to first embodiment of the invention is described.In the case, obstacle detection device is suitable for the obstacle that vehicle is used for detecting vehicle periphery.Obstacle detection device has ECU 30 and a plurality of detecting unit, and (for

example sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RL).Sonac 20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RL(having constructed ultrasonic sensor system 20) process bus etc. is connected with ECU 30.

Sonac 20 _FRWith 20 _FLBe attached to the front bumper right-hand member and the left end of vehicle chassis 10 respectively.Sonac 20 _RR, 20 _RCWith 20 _RLBe attached to rear bumper arm right-hand member, left and right directions middle body and the left end of vehicle chassis 10 respectively.The detection zone A of vehicle periphery _FR, A _FL, A _RR, A _RCAnd A _RLDistribute to sonac 20 respectively _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RL

Each

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLCarry out ultrasound emission-reception operation (operation of signal send-receive), be used for ultrasonic pulse string (transmission ripple) being sent to the detection zone of distributing to it and receiving the ultrasonic pulse string (reflection wave) that reflects by obstacle under the situation that is present in detection zone at obstacle.In addition, the send-receive operation comprises the reflected signal that sends in response to reflection wave to ECU 30.

ECU 30 can be mainly by for example microcomputer structure.In the case, ECU 30 has through interconnective CPU, ROM, RAM, I/O etc. such as bus lines.For example in this embodiment, ECU 30 comes work as operation control unit and determining unit.ECU 30 is optionally with at least a sonac 20 that sends among the multiple time sequential routine signal S1-S3 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RL, simultaneously based on from

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLReflection wave (reflected signal) determine distributing to its detection zone A _FR, A _FL, A _RR, A _RCAnd A _RLObstacle detection.

Just ECU 30 is by optionally with at least a sonac 20 that sends among the multiple time sequential routine signal S1-S3 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RL

Control sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLThe ripple transmission timing of transmission ripple, make

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLCarry out the send-receive operation in response to the time sequential routine signal that sends to it.In addition, when sonac 20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLThe continuous wave of reflection wave when receiving number of times (receiving number of times continuously) more than or equal to predetermined value, ECU 30 determines distributing to sonac 20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLDetection zone in obstacle detection.

In the predetermined detection time T 0 after time sequential routine signal S1, S2 and S3 transmission (with reference to Fig. 2), ECU 30 calculates at each

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLThe transmission ripple send with the reflection wave reception between time of passing.So ECU 30 calculates distance between vehicle and the obstacle based on the time of passing and the velocity of sound.

In addition, ECU 30 is to each

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLThe continuous reception number of times of reflection wave count.In this embodiment, in order to eliminate noise effect, determine that under the condition of continuous several times reception reflection wave obstacle exists.

Particularly, when

single sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCOr 20 _RLContinuous reception number of times during more than or equal to predetermined value (for example 3), determine distributing to sonac 20 _FR, 20 _FL, 20 _RR, 20 _RCOr 20 _RLDetection zone in have obstacle.So, for example by make the hummer sounding that is attached to vehicle, indication obstacle existence etc. on indicator, notify obstacle to exist to the vehicle driver.

Provide with predetermined period T1 from each time sequential routine signal S1-S3 of ECU 30 outputs.Just with predetermined period T1 repeatable operation clock signal S1, S2, S3.The time sequential routine phase place of signal S1-S3 is different, and the phase differential more than or equal to T0 detection time is provided therebetween.In addition, the phase differential between time sequential routine signal S3 and the S1 is greater than the phase differential between time sequential routine signal S2 and the S1.So output function clock signal S1, S2 and S3 in regular turn.

In this embodiment, sonac 20 _RLWith 20 _FRBe set in response to time sequential routine signal S1, sonac 20 _RCBe set in response to time sequential routine signal S2, and sonac 20 _RRWith 20 _FLBe set in response to time sequential routine signal S3.So, each

sonac

20 _RL, 20 _RCWith 20 _RRCarry out the send-receive operation with predetermined period T1.Sonac 20 _RL, 20 _RCWith 20 _RRSend-receive operation be with

sonac

20 _RL, 20 _RCWith 20 _RROrder carry out.

With reference to Fig. 2 A, be synchronized with sonac 20 respectively _RLWith 20 _RRSend-receive operate and carry out sonac 20 _FRWith 20 _FLSend-receive operation.As shown in Fig. 2 A-2D, " A " indicated the sonac 20 in response to time sequential routine signal S1 _RL, 20 _FRTime sequential routine." B " indicated the sonac 20 in response to time sequential routine signal S2 _RCTime sequential routine." C " indicated the sonac 20 in response to time sequential routine signal S3 _RR, 20 _FLTime sequential routine.

Then, with the operation of describing according to the obstacle detection device of first embodiment.

ECU 30 is optionally with at least a each sonac 20 that sends among the multiple time sequential routine signal S1-S3 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLSo, each

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLCarry out ultrasound emission-reception operation.Just

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLSend to the detection zone that is assigned to it with sending ripple, and receive reflection wave from

detection zone.At sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLAll do not receive under the situation of reflection wave, carry out each sonac 20 with

period T

1 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLSend-receive operation, as shown in Fig. 2 A.

With reference to Fig. 2 B, when sonac 20 _RLOr similar sensor is when receiving reflection wave (filling shown in frame " A ", " B ", " C " as the point among the figure), and ECU 30 begins sonac 20 _RLOr the continuous reception number of times of similar sensor is counted.

In the case, when sonac 20 _RL(just do not determine as yet when beginning to receive reflection wave via sonac 20 _RLObstacle detection), the cycle of time sequential routine signal S1 (sonac 20RL is in response to it) is controlled to be by ECU 30 and becomes the period T 2 that is shorter than predetermined period T1, and the cycle of time sequential routine signal S2, S3 is controlled to be to become by ECU 30 and is longer than predetermined period T1.So, sonac 20 _RLUltrasound emission-reception operating cycle become the period T 2 that is shorter than T1, as shown in Fig. 2 B.

At sonac 20 _RLContinuous wave receive number of times and reach under the situation of " 3 ", determine distributing to sonac 20 _RLDetection zone in detect obstacle.So excitation buzzer, indicator etc. are to notify obstacle to exist to the driver.Therefore, can determine obstacle detection earlier in the limit noise influence.

As mentioned above, at

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RCWith 20 _RLContinuous wave receive number of times and reach under the situation of " 3 ", determine the obstacle detection in distributing to its detection zone and it be notified to the driver.Therefore, finished the function that is used for determining to exist obstacle at this detection zone.So,

shorten sonac

20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RLThe necessity step-down in send-receive operating cycle.In the case, if the send-receive operating cycle remains weak point, then noise effect will become big.Therefore, preferably shorten the send-receive operating cycle where necessary.

Therefore, when sonac 20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RLContinuous wave when receiving number of times and reaching " 3 ", its cycle just changes back to predetermined period T1.So, limit noise influence basically.

In addition, at

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RLReflection wave be received in continuous wave and receive number of times and reach under the situation that " 3 " disappear before, its cycle also changes back to predetermined period T1.For example, at sonac 20 _RCReception reflection wave and the reception of reflection wave subsequently disappear, make continuous wave to receive under the situation of number of times less than " 3 " sonac 20 _RCSubsequent cycle (i.e. cycle after the reception of reflection wave stops) changing back to predetermined period T1.In the case, think sonac 20 _RCReceived noise signal.Owing to distributing to sonac 20 _RCDetection zone in do not have obstacle, so needn't shorten sonac 20 _RCThe send-receive operating cycle.On the other hand, if sonac 20 _RCThe send-receive operating cycle remain weak point, then the influence from the continuing noise signal will become big.According to this embodiment, for example sonac 20 _RCThe send-receive operating cycle change back to predetermined period T1, make it possible to basically the limit noise influence.

As an alternative, the cycle of time sequential routine signal S1, S2, S3 also can change as shown in Fig. 2 C.In the case, begin to receive the sonac (for example 20 of reflection wave _RL) time sequential routine signal (for example S1) after the reception of reflection wave, provide one-period T2 (being shorter than period T 2) and subsequent cycle T1 (after one-period T2) immediately.Just period T 2 changes back to predetermined period T1.

More as an alternative many, the cycle of time sequential routine signal S1, S2, S3 also can change shown in Fig. 2 D like that.In the case, begin to receive the sonac (for example 20 of reflection wave _RL) time sequential routine signal (for example S1) the subsequent cycle T2 (after one-period T1) that after the reception of reflection wave, provides one-period T1 immediately and be shorter than predetermined period T1.

More as an alternative many, when ultrasonic sensor system 20 received reflection wave, the cycle of time sequential routine signal S1, S2, S3 also can be controlled according to vehicle running state or running environment.In the case, can detect vehicle running state and running environment based on operation information from the vehicle speed sensor of vehicle, the gear shift sensor that is used to detect shift pattern, the steering angle sensor that is used to detect the deflecting roller steering angle, the rain sensor that is used to detect raindrop, light control system etc.

For example, when vehicle has high travel speed or obstacle when night etc. being difficult to visual discrimination, be preferably under the situation of determining obstacle detection early, the cycle of time sequential routine signal S1, S2, S3 can be controlled as shown in Fig. 2 B.Be preferably eliminate jam-to-signal as situation from the reflection wave influence of raindrop etc. under, the cycle of time sequential routine signal S1, S2, S3 can be controlled shown in Fig. 2 C or 2D like that.

In addition, when the sonac that is arranged at Vehicular turn direction side received reflection wave, the possibility that exists that is positioned at the obstacle of vehicle intended path was high, made to be necessary to determine obstacle detection early and it is notified to the driver.In the case, can as shown in Fig. 2 B, control in the signal period in time sequential routine of the sonac of steering direction side.

On the other hand, when the sonac that is arranged at Vehicular turn direction opposite side received reflection wave, the possibility that exists that deviates from the obstacle of vehicle intended path was high.In the case, can shown in Fig. 2 C or 2D, control like that in the signal period in time sequential routine of the sonac of steering direction opposite side.

Via sonac 20 in response to time sequential routine signal S1 _RL(or 20 _FR) first (initialtime) ripple receive calculated distance (between vehicle and the obstacle) to be shorter than sonac 20 in response to time sequential routine signal S2, S3 _RCOr under the situation of similar sensor, the cycle of time sequential routine signal S1, S2, S3 can be controlled as shown in Fig. 2 B.On the other hand, via sonac 20 in response to time sequential routine signal S1 _RL(or 20 _FR) first subwave receive calculated distance to be longer than sonac 20 in response to time sequential routine signal S2, S3 _RCOr under the situation of similar sensor, the cycle of time sequential routine signal S1, S2, S3 can be controlled as shown in Fig. 2 C or the 2D.

So according to this embodiment, the signal period in time sequential routine that begins to receive the sonac of reflection wave is controlled to be and is shorter than predetermined period T1.Therefore, can be when the time durations that shortens be determined obstacle detection can the limit noise signal influence.In addition, determining that according to shortening the time that passes before the obstacle detection is that this situation of fundamental purpose and elimination noise effect are that this situation of fundamental purpose is come the control operation clock signal cycle.Therefore, can determine obstacle detection early in the limit noise influence.

Then, will the remodeling of first embodiment be described.In the case, each of front bumper and rear bumper arm provides two sonacs.

Particularly, sonac 20 _FRWith 20 _FLBe attached to the right-hand member and the left end of front bumper respectively, and sonac 20 _RRWith 20 _RLBe attached to the right-hand member and the left end of rear bumper arm respectively.

ECU 30 output function clock signal S1 and S2.Sonac 20 _FLWith 20 _RRBe set in response to time sequential routine signal S2, and sonac 20 _FRWith 20 _RLBe set in response to time sequential routine signal S2.

In Fig. 3 A and 3B, " A " indicated the sonac 20 in response to time sequential routine signal S1 _FL, 20 _RRTime sequential routine." B " indicated the sonac 20 in response to time sequential routine signal S2 _FR, 20RL time sequential routine.

When sonac 20 _FR, 20 _FL, 20 _RRWith 20 _RLWhen all not receiving reflection wave,

sonac

20 _FR, 20 _FL, 20 _RRWith 20 _RLBe controlled to be with predetermined period T3 and carry out ultrasonic emitting-reception operation, as shown in Fig. 3 A.At sonac 20 _RR(or 20 _FL) begin to receive under the situation of reflection wave, the periodic Control of time sequential routine signal S1 is for to equate with the period T 2 that is shorter than predetermined period T3, and the periodic Control of time sequential routine signal S2 is for being longer than predetermined period T3.So, sonac 20 _RR(or 20 _FL) the send-receive operating cycle become the period T 2 that is shorter than predetermined period T3, as shown in Fig. 3 B.

In the case, when sonac 20 _RROr the continuous wave of similar sensor is determined to detect obstacle in distributing to its detection zone when receiving number of times and reaching " 3 ".On the other hand, when sonac 20 _RRContinuous wave receive that number of times reaches " 3 " (just having determined obstacle detection) or during, sonac 20 less than " 3 " (just receiving noise signal) _RROr the send-receive operating cycle of similar sensor can change back to predetermined period T3.

[second embodiment]

With reference to Fig. 4-6 second embodiment of the present invention is described.

As shown in Figure 4, six sonacs 20 _A-20 _FBe installed in the rear bumper arm of vehicle chassis 10, and send and receive ultrasonic signal (detection signal) respectively to distributing to sonac 20 respectively _A-20 _FDetection zone A _a-A _fIn the case, sonac 20 _FLWith 20 _FRAs described in above-mentioned first embodiment, be attached to front bumper.

ECU 30 output function clock signal S1-S3.Sonac 20 _A-20 _FBe divided into three groups of A, B and C.With reference to Fig. 5 A, sonac 20 _AWith 20 _DBe set in response to time sequential routine signal S1.Just the A group comprises the sonac 20 in response to time sequential routine signal S1 _AWith 20 _DThe send-receive operand.

With reference to Fig. 5 B, sonac 20 _CWith 20 _FBe set in response to time sequential routine signal S2.Just the B group comprises the sonac 20 in response to time sequential routine signal S2 _CWith 20 _FThe send-receive operand.

With reference to Fig. 5 C, sonac 20 _BWith 20 _EBe set in response to time sequential routine signal S3.Just the C group comprises the sonac 20 in response to time sequential routine signal S3 _BWith 20 _EThe send-receive operand.

Sonac 20 _A-20 _FSend-receive operation be based on time sequential routine signal S1-S3 and carry out with the order of A, B and C group, as shown in Fig. 5 A-6A.Just sonac 20 _A-20 _FSend-receive operation in turn carry out with the unit order of A, B and C group.

As shown in Fig. 6 A, at sonac 20 _A-20 _FAll do not receive under the situation of reflected signal, the cycle of each time sequential routine signal S1, S2 and S3 is set to predetermined period T1.

In Fig. 6 A and 6B, " A " indicated the sonac 20 in response to time sequential routine signal S1 _A, 20 _DTime sequential routine." B " indicated the sonac 20 in response to time sequential routine signal S2 _C, 20 _FTime sequential routine." C " indicated the sonac 20 in response to time sequential routine signal S3 _B, 20 _ETime sequential routine.

At A group sonac 20 _A(or 20 _D) begin to receive reflection wave and (just determine via sonac 20 as yet _AObstacle detection) situation under, the cycle of time sequential routine signal S1 is controlled to be with the period T 2 that is shorter than predetermined period T1 by ECU 30 and equates, and the periodic Control of time sequential routine signal S2, S3 is greater than predetermined period T1.So, as shown in Fig. 6 B, sonac 20 _AWith 20 _DUltrasound emission-reception operating cycle at sonac 20 _A(or 20 _D) begin to be converted to after receiving reflection wave period T 2.The sonac of B and C group also can be similar to

sonac

20 _A, 20 _DControl.

At sonac 20 _A-20 _FIn any continuous wave receive number of times and reach under the situation of " 3 ", determine in distributing to the detection zone of this sonac, to detect obstacle.On the other hand, at sonac 20 _A-20 _FIn any continuous wave receive number of times and reach under " 3 " (just having determined obstacle detection) or the situation less than " 3 " (detected noise signal just), its periodic transformation is got back to predetermined period T1.

In a second embodiment, the part of not describing about obstacle detection device is identical with first embodiment.

[the 3rd embodiment]

With reference to Fig. 7-10 third embodiment of the present invention is described.

In the case, as shown in Figure 7, vehicle provides four

sonacs

20 _FR, 20 _FL, 20 _RRWith 20 _FL Sonac 20 _FRWith 20 _FLBe attached to the right-hand member and the left end of front bumper respectively.Sonac 20 _RRWith 20 _RLBe attached to the right-hand member and the left end of rear bumper arm respectively.Detection zone A _FR, A _FL, A _RRAnd A _RLDistribute to sonac 20 respectively _FR, 20 _FL, 20 _RRWith 20 _RL

Each

sonac

20 _FR, 20 _FL, 20 _RRWith 20 _RLCarry out ultrasound emission-reception operation, be used for respectively ultrasonic pulse string (transmission ripple) being sent to the detection zone of distributing to it and receive the ultrasonic pulse string (reflection wave) that reflects by obstacle under the situation that is present in detection zone at obstacle.In addition, the send-receive operation comprises the reflected signal that sends corresponding to reflection wave to ECU 30.

ECU 30 optionally sends to sonac 20 with time sequential routine signal S1 and S2 _FR, 20 _FL, 20 _RRWith 20 _RLCommand it to send the ripple sequential, simultaneously based on from

sonac

20 _FR, 20 _FL, 20 _RRWith 20 _RLReflected signal determine at detection zone A _FR, A _FL, A _RRAnd A _RLIn obstacle detection.

After time sequential routine signal S1 and S2 transmission, ECU 30 calculates at each sonac 20 in predetermined

detection time T

0 _FR, 20 _FL, 20 _RR, 20 _RLThe transmission ripple send with the reflection wave reception between time (with reference to Fig. 8 A-8C) of passing.So the distance between vehicle and the obstacle is calculated based on the time of passing and the velocity of sound by ECU 30.

In addition, ECU 30 is to each

sonac

20 _FR, 20 _FL, 20 _RRWith 20 _RLThe continuous reception number of times of reflection wave count.When

single sonac

20 _FR, 20 _FL, 20 _RR, 20 _RLContinuous reception number of times during more than or equal to predetermined value (for example " 3 "), determine distributing to

sonac

20 _FR, 20 _FL, 20 _RR, 20 _RLDetection zone in have obstacle.So, for example by make the hummer sounding that is attached to vehicle, indication obstacle existence etc. on indicator, notify obstacle to exist to the vehicle driver.

In this embodiment, in order to eliminate noise effect, determine that under the condition of continuous several times reception reflection wave obstacle exists.

Export each time sequential routine signal S1 and S2 with predetermined period T1 ' from ECU 30.The phase place of time sequential routine signal S1 and S2 is different, and the phase differential more than or equal to T0 detection time is provided therebetween.In the case, alternately output function clock signal S1 and S2.

Sonac 20 _RLWith 20 _FRBe set in response to time sequential routine signal S1, and sonac 20 _RRWith 20 _FLBe set in response to time sequential routine signal S2.So, alternately carry out sonac 20 _RLWith 20 _RRSend-receive operation, and be synchronized with sonac 20 respectively _RLWith 20 _RRSend-receive operate and carry out sonac 20 _FRWith 20 _FLSend-receive operation, as shown in Fig. 8 A.In Fig. 8 A-8C, " A " indicated the sonac 20 in response to time sequential routine signal S1 _RL, 20 _FRTime sequential routine." B " indicated the sonac 20 in response to time sequential routine signal S2 _RR, 20 _FLTime sequential routine.

Then, with the operation of describing according to the obstacle detection device of the 3rd embodiment.

ECU 30 optionally sends to sonac 20 with time sequential routine signal S1 and S2 _FR, 20 _FL, 20 _RRWith 20 _RL, make each sonac 20 _FR, 20 _FL, 20 _RRWith 20 _RLCarry out ultrasound emission-reception operation.Just sonac 20 _FR, 20 _FL, 20 _RR, 20 _RLSend to the detection zone that is assigned to it with sending ripple, and receive the reflection wave of detection zone since

then.At sonac

20 _FR, 20 _FL, 20 _RRWith 20 _RLAll do not receive under the situation of reflection wave, carry out each sonac 20 with predetermined period T1 ' _FR, 20 _FL, 20 _RRWith 20 _RLSend-receive operation, as shown in Fig. 8 A.

With reference to Fig. 8 B, when sonac 20 _RLOr similar sensor is when receiving reflection wave (filling shown in frame " A ", " B ", " C " as the point among the figure), and ECU 30 begins sonac 20 _RLOr the continuous reception number of times of similar sensor is counted.Receive number of times at continuous wave and reach under the situation of predetermined value (for example " 3 "), distributing to sonac 20 to driver's notice via excitation buzzer, indicator etc. _RLOr there is obstacle in the detection zone of similar sensor.

On the other hand, with reference to Fig. 8 B, when sonac 20 _RRWhen beginning to receive reflection wave, sonac 20 _RRCycle of time sequential routine signal S2 be controlled to be by ECU 30 and equal period T 2 ' (being shorter than predetermined period T1 '), and sonac 20 _RLCycle of time sequential routine signal S1 be controlled to be by ECU 30 and equal period T 3 ' (being longer than predetermined period T1 '), its condition is to have determined distributing to sonac 20 _RLDetection zone in obstacle detection and sonac 20 _RLReflection wave to receive be continuous.

At sonac 20 _RRContinuous reception number of times reach under the situation of " 3 ", determine distributing to sonac 20 _RRDetection zone in detect obstacle.So excitation buzzer, indicator etc. are to notify obstacle to exist to the driver.

Therefore, begin to receive the sonac (for example 20 of reflection wave _RR) the execution of ultrasound emission-reception operation have precedence over the sonac that has been determined via its obstacle detection (for example 20 _RL) the execution of ultrasound emission-reception operation.So, can carry out obstacle detection to be determined early (for example via sonac 20 _RR).

On the other hand, at sonac (for example 20 _RR) continuous wave receive number of times and reach under the situation of " 3 ", sonac (for example 20 _RR) the periodic transformation of time sequential routine signal (for example S2) get back to predetermined period T1 ', as shown in Fig. 8 B.In the case, owing to determined via sonac (for example 20 _RR) obstacle detection and also it is notified to the driver, distributing to sonac (for example 20 so finished _RR) detection zone in definite task of existing via the obstacle of sonac.So, shorten sonac (for example 20 _RR) the necessity step-down in send-receive operating cycle.If the send-receive operating cycle remains weak point, then noise effect will become big.

Therefore, preferably shorten sonac (for example 20 where necessary _RR) the send-receive operating cycle.In the case, according to this embodiment, determining via sonac (for example 20 _RR) obstacle detection after, sonac (for example 20 _RR) the send-receive operating cycle will change back to predetermined period T1 ', make it possible to basically the limit noise influence.

In addition, receive number of times at the continuous wave that is received in sonac of reflection wave and reach under the situation that " 3 " disappear before, the cycle of the time sequential routine signal that ultrasonic sensor responded also changes back to predetermined period T1 '.

At sonac (for example 20 _RR) receive reflection wave and the reception of reflection wave subsequently and disappear and make its continuous wave receive under the situation of number of times less than " 3 ", the subsequent cycle of time sequential routine signal (for example S2) (i.e. cycle after the reception of reflection wave stops) changing back to predetermined period T1 ', with reference to Fig. 8 C.In the case, think sonac (for example 20 _RR) received noise.Owing to distributing to sonac (for example 20 _RR) detection zone in do not have obstacle, so needn't shorten sonac (for example 20 _RR) the send-receive operating cycle.On the other hand, if sonac (for example 20 _RR) the send-receive operating cycle remain weak point, then the influence from the continuing noise signal will become big.In the case, according to this embodiment, sonac (for example 20 _RR) the send-receive operating cycle will change back to predetermined period T1 ', make it possible to basically the limit noise influence.

As an alternative, the signal period in time sequential routine also can change as shown in Fig. 9 A.In the case, begin to receive the sonac 20 of reflection wave _RRThe time sequential routine signal S2 subsequent cycle (afterwards) that after the reception of reflection wave, provides one-period T2 ' (being shorter than period T 1 ') immediately and change back to predetermined period T1 at one-period T2 '.

More as an alternative many, the cycle of time sequential routine signal S1, S2 also can be controlled shown in Fig. 9 B like that.In the case, begin to receive the sonac 20 of reflection wave _RRThe time sequential routine signal S2 subsequent cycle (afterwards) that after the reception of reflection wave, provides one-period T1 ' immediately and equal T2 ' (being shorter than predetermined period T1 ') at one-period T1 '.

More as an alternative many, when the sonac in response to time sequential routine signal S1, S2 received reflection wave, the cycle of time sequential routine signal S1, S2 also can be selected according to vehicle running state or running environment.In the case, can based on from vehicle speed sensor, the operation information that is used to detect the gear shift sensor of shift pattern, the steering angle sensor that is used to detect the deflecting roller steering angle, the rain sensor that is used to detect raindrop, light control system etc. detects vehicle running state and running environment.

When vehicle has high travel speed or obstacle when night etc. being difficult to visual discrimination, be preferably under the situation of determining obstacle detection early, the cycle of time sequential routine signal S1, S2 can be controlled as shown in Fig. 8 B.Eliminate jam-to-signal as situation from the reflection wave influence of raindrop etc. under, the cycle of time sequential routine signal S1, S2 can be controlled shown in Fig. 9 A or 9B like that.

In addition, when the sonac that is arranged at Vehicular turn direction side received reflection wave, the possibility that exists that is positioned at the obstacle of vehicle intended path was high, made to be necessary to determine obstacle detection early and it is notified to the driver.In the case, can as shown in Fig. 8 B, control in the signal period in time sequential routine of the sonac of steering direction side.

On the other hand, when the sonac that is arranged at Vehicular turn direction opposite side received reflection wave, the possibility that exists that deviates from the obstacle of vehicle intended path was high.In the case, can shown in Fig. 9 A or 9B, control like that in the signal period in time sequential routine of the sonac of steering direction opposite side.

Via sonac 20 _RR(or 20 _FL) first subwave receive calculated distance (between vehicle and the obstacle) to be shorter than via sonac 20 _RL(or 20 _FR) first subwave receive under the situation of calculated distance, the cycle of time sequential routine signal S1, S2 can be controlled as shown in Fig. 8 B.Via sonac 20 _RR(or 20 _FL) first subwave receive calculated distance to be longer than via sonac 20 _RL(or 20 _FR) first subwave receive under the situation of calculated distance, the cycle of time sequential routine signal S1, S2 can be controlled as shown in Fig. 9 A or the 9B.

So, according to this embodiment, the execution of send-receive operation that begins to receive the sonac (just the obstacle detection via sonac has to be determined) of reflection wave has precedence over the execution of the send-receive operation of the sonac that has been determined via its obstacle detection.So, can determine obstacle detection early.

In addition, in this embodiment, can determine this situation of time that passes before the obstacle detection or be preferably this situation of elimination noise effect, the cycle of coming transition operation clock signal S1, S2 according to being preferably shortening.Therefore, can determine obstacle detection early in the limit noise influence.

As an alternative, for example when sonac 20 _RRWhen beginning to receive reflection wave, as shown in Figure 10, sonac 20 _RRCycle of time sequential routine signal S2 can be controlled to be by ECU 30 and equal period T 2 ' (being shorter than predetermined period T1 '), and sonac 20 _RLTime sequential routine signal S1 can be relevant to period T T4 1 ' time delay, its condition is to have determined distributing to sonac 20 _RLDetection zone in obstacle detection and sonac 20 _RLReflection wave to receive be continuous.In the case, T4 time delay can at random be set.

[the 4th embodiment]

With reference to Figure 11-13C the fourth embodiment of the present invention is described.

In the case, four sonacs 20 _A-20 _DBe installed in rear bumper arm, ultrasonic in order to send respectively and to receive (promptly carrying out the send-receive operation) is to distributing to sonac 20 respectively _A-20 _DDetection zone A _a-A _dIn the case, sonac 20 _AWith 20 _DBe installed in the left end and the right-hand member of rear bumper arm respectively, and sonac 20 _BWith 20 _CBe arranged on sonac 20 _AWith 20 _D Between.Sonac 20 _FLWith 20 _FRBe installed in the left end and the right-hand member of front bumper respectively, this is identical with above-mentioned the 3rd embodiment.

ECU 30 output function clock signal S1 and S2.Sonac 20 _A-20 _DBe divided into two groups of A and B.The A group comprises sonac 20 _AWith 20 _CThe send-receive operand, with reference to Figure 12 A.Sonac 20 _AWith 20 _CBe set in response to time sequential routine signal S1.

The B group comprises sonac 20 _BWith 20 _DThe send-receive operand, with reference to Figure 12 B.Sonac 20 _BWith 20 _DBe set in response to time sequential routine signal S2.Sonac 20 _A-20 _DSend-receive operation be based on time sequential routine signal S1 and S2 in turn carries out with the unit order of A and B group, as shown in Figure 12 A-13A.

Do not having sonac to receive under the situation of reflection wave, carrying out the send-receive of each sonac with predetermined period T1 ' and operate, as shown in Figure 13 A.

With reference to Figure 13 B, when B group sonac 20 _D(or 20 _B) when beginning to receive reflection wave, the cycle of the time sequential routine signal S2 of B group sonac is controlled to be by ECU 30 and equals period T 2 ' (being shorter than predetermined period T1 '), and A group sonac 20 _A(or 20 _C) the periodic Control of time sequential routine signal S1 for equaling T3 ' (being longer than predetermined period T1 '), its condition is that the reflection wave of having determined in distributing to A group sonac obstacle detection at least one the detection zone and A group sonac receives is continuous.

At sonac (for example 20 of B group _DOr 20 _B) continuous wave receive number of times and reach under the situation of " 3 ", determine in distributing to its detection zone, to detect obstacle.So, notify obstacle to exist to the driver by excitation buzzer, indicator etc.

On the other hand, receive that number of times reaches " 3 " or during less than " 3 ", the periodic transformation of signal S1 and S2 is got back to predetermined period T1 ' when continuous wave.

At A group sonac 20 _AOr 20 _CBegin to receive reflection wave (just its obstacle detection has to be determined) and determined in distributing to B group sonac also can compatibly use to above with reference to the described similar control of Figure 13 B under the situation of the obstacle detection at least one the detection zone.

As an alternative, as shown in Figure 13 C, when sonac (for example 20 of B group _DOr 20 _B) when beginning to receive reflection wave, the cycle of time sequential routine signal S2 (B group sonac is in response to it) is controlled to be by ECU 30 and equals period T 2 ' (being shorter than predetermined period T1 '), and the cycle of time sequential routine signal S1 (A group sonac in response to it) is controlled to be by ECU 30 and equals T3 ' (being longer than predetermined period T1 '), and its condition is to have determined distributing to A group sonac 20 _AWith 20 _CIt is continuous that the reflection wave of obstacle detection in the detection zone of the two and A group sonac 20A and 20C receives.

So, as shown in Figure 13 C, when sonac 20 _DBegin to receive reflection wave and only determined A group sonac 20 _AObstacle detection the time, will not carry out above-mentioned control.On the other hand, when sonac 20 _DBegin to receive reflection wave and determined A group sonac 20 _AWith 20 _CDuring the two obstacle detection, will carry out above-mentioned control.

In the 4th embodiment, be identical with the 3rd embodiment about the part of not describing as yet of obstacle detection device.

[other embodiment]

In above-mentioned first to fourth embodiment, obstacle detection is to receive number of times at the continuous wave of sonac to reach predetermined value and for example determine under the condition of " 3 ".Predetermined value also can be set to equal " 2 " or greater than " 3 ".In addition, in the above-described embodiments,, each sonac of obstacle detection device receives the standard (being used for determining obstacle detection) of number of times as continuous wave for providing same predetermined value (for example " 3 ").Yet the predetermined value of sonac also can be provided with individually.Just different sonacs can provide different predetermined values.

In addition, in first and second embodiment, the send-receive operating cycle that begins to receive the sonac of reflection wave is converted to the period T 2 that is shorter than predetermined period T1, and the send-receive operating cycle Be Controlled of other sonacs becomes and is longer than predetermined period T1.Yet ECU 30 also can shorten the send-receive operating cycle of the sonac that begins to receive reflection, and does not change the send-receive operating cycle of other sonacs.

In first embodiment, the send-receive operation is with

sonac

20 _RL, 20 _RCWith 20 _RROrder in turn carry out.Yet the send-receive operation also can be carried out in proper order with other.In a second embodiment, the send-receive operation is in turn to carry out with the order of A, B and C group.Yet the send-receive operation also can be carried out in proper order with other.

In addition, in first to fourth embodiment, sonac also can be attached to Vehicle protector plate, car door etc. rather than front bumper and rear bumper arm.

In the second and the 4th embodiment, each sonac is set in response to one of time sequential routine signal.Yet single sonac also can be set in response to a plurality of time sequential routine signals.Just single sonac also can belong to many groups.

In addition, in the second and the 4th embodiment, every group comprises two sonacs.Yet group also can comprise a sonac or amount to the sonac of number more than or equal to " 3 ".In addition, it is unrestricted to belong to mutually the relative position relation of sonac on the same group.For example, contiguous mutually sonac also can belong to mutually on the same group.

Claims

1. obstacle detection device comprises:

A plurality of detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F), be assigned to a plurality of detection zone (A respectively _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) in order to be relevant to detection zone (A _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) carry out signal send-receive operation, detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) signal send-receive operation comprise and send detection signal to the detection zone (A that distributes to it _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) and receive from the detection zone (A that distributes to it _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) reflected signal;

Operation control unit (30), control detection unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F), make detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) in response to operating with at least a signal send-receive of carrying out in the predetermined period multiple time sequential routine signal repeatedly; And

Determining unit (30) is to detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) reflected signal receive number of times continuously and count, and when detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) continuous reception number of times during more than or equal to predetermined value, determine distributing to detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) detection zone (A _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) in obstacle detection, be characterised in that:

Begin to receive the detecting unit (20 of reflected signal _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) signal send-receive operation provide time sequential routine signal by operation control unit (30) with cycle shorter than described predetermined period.

2. according to the obstacle detection device of claim 1, wherein:

When detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) being received in it and receiving continuously number of times and reach when disappearing before the described predetermined value detecting unit (20 reflected signal _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) cycle of the time sequential routine signal that responded changes back to described predetermined period by operation control unit (30).

3. according to the obstacle detection device of claim 1 or 2, wherein:

When detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) continuous reception number of times when reaching described predetermined value, detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) cycle of the time sequential routine signal that responded changes back to described predetermined period by operation control unit (30).

4. according to the obstacle detection device of claim 1 or 2, wherein:

Detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) be sonac, this sonac sends ultrasonic signal to the detection zone (A that distributes to it based on the time sequential routine signal _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f), and receive from detection zone (A _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) reflection ultrasonic signal.

5. according to the obstacle detection device of claim 1, wherein:

In turn carry out a plurality of detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) signal send-receive operation; And

When a detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) when beginning to receive reflected signal, this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) subsequent cycle of the time sequential routine signal that responded is controlled to be and is shorter than described predetermined period, and with this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the periodic Control of the different time sequential routine signal of time sequential routine signal for being longer than described predetermined period, its condition is to determine via another detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) obstacle detection and this another detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) be continuous to the reception of reflected signal,

This another detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) with this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the different time sequential routine signal of time sequential routine signal carry out signal send-receive operation.

6. according to the obstacle detection device of claim 1, wherein:

When a detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) when beginning to receive reflected signal, this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) subsequent cycle of the time sequential routine signal that responded is controlled to be and is shorter than described predetermined period, and with this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the periodic Control of the different time sequential routine signal of time sequential routine signal for being longer than described predetermined period, its condition is to determine via other detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) obstacle detection and described other detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) be continuous to the reception of reflected signal,

Described other detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) comprise with this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the different time sequential routine signal of time sequential routine signal carry out all detecting units (20 of signal send-receive operation _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F).

7. according to the obstacle detection device of claim 5 or 6, wherein:

When a detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) being received in it and receiving continuously number of times and reach when disappearing before the described predetermined value this detecting unit (20 reflected signal _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) cycle of the time sequential routine signal that responded changes back to described predetermined period by operation control unit (30).

8. according to claim 5 or 6 described obstacle detection devices, wherein:

When a detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) continuous reception number of times when reaching described predetermined value, this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) cycle of the time sequential routine signal that responded changes back to described predetermined period by operation control unit (30).

9. according to the obstacle detection device of claim 1, wherein:

When a detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) when beginning to receive reflected signal, this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the subsequent cycle average of the time sequential routine signal that responded is controlled to be and is shorter than described predetermined period, and with this detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) the different signal delay scheduled period in time sequential routine of time sequential routine signal, its condition is to have determined via another detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) obstacle detection and this another detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) be continuous to the reception of reflected signal,

10. according to each obstacle detection device in the claim 5,6 and 9, wherein:

Detecting unit (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) be sonac, this sonac sends ultrasonic signal to the detection zone (A that distributes to it based on the time sequential routine signal _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f), and receive from distributing to its detection zone (A _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) reflection ultrasonic signal.

11. according to each obstacle detection device in the claim 1,2,5,6 and 9, wherein operation control unit and determining unit are by ECU (30) structure, this ECU (30) optionally sends multiple time sequential routine signal to a plurality of detecting units (20 _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F), and based on the reflected signal that comes from them, determine distributing to detecting unit (20 respectively _FR, 20 _FL, 20 _RR, 20 _RC, 20 _RL, 20 _A-20 _F) detection zone (A _FR, A _FL, A _RR, A _RC, A _RL, A _a-A _f) in obstacle detection.

12. according to the obstacle detection device of claim 11, wherein this ECU (30) is constructed by microcomputer.