JP2010158917A - Obstacle detection system and vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely detect an obstacle between a vehicle body and an opening/closing door without contacting the obstacle. <P>SOLUTION: Either one of a radar device 20 or a transponder T is provided at a first position on the opening/closing door side, while the other is provided at a second position on the vehicle body side. A transmission circuit 21 transmits a transmission signal of a prescribed frequency by radio, and a transmitter-receiver circuit of the transponder T receives a transmission signal transmitted by radio and transmits back a return signal of the same frequency and the same phase. A reception circuit 21 receives the return signal and a measuring part 22 measures distance information from phase information on the transmission signal and the return signal. The distance information corresponding to a distance between the transponder T and the radar device 20 in a full open state of the opening/closing door is stored in a memory 23. An obstacle detecting part 24 compares the distance information measured by the measuring part 22 with the distance information stored in the memory 23, and decides the presence of the obstacle when these two pieces of distance information are not matched. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an obstacle detection system for detecting an obstacle between a vehicle main body and an automatic opening / closing door provided on the vehicle main body, and a vehicle apparatus including the obstacle detection system.

Conventionally, as this type of obstacle detection system, a contact detection device is known in which a pressure-sensitive sensor is provided on an electric hatchback door and an obstacle between the hatchback door and a vehicle body is detected (Patent Document 1). reference). The contact detection device prevents the obstacle from being caught between the hatchback and the vehicle body by detecting the contact of the pressure sensor provided on the hatchback door with the object when the hatchback door is closed.
In addition, in an automatic door safety and activation device, a pinch prevention sensor using a transmissive or reflective sensor using infrared or millimeter wave radar is known (see Patent Document 2).

Japanese Patent Laid-Open No. 2003-214034 Japanese Patent Laid-Open No. 10-205215

However, in the contact detection device described in Patent Document 1, since the obstacle cannot be detected until the electric hatchback door (automatic opening / closing door) contacts the obstacle, there is a possibility of injury if the obstacle is a human body. In addition, there is a possibility of damaging the vehicle body when contacting an obstacle.
In addition, when the infrared or millimeter wave radar described in Patent Document 2 is applied, these infrared and millimeter wave radars have a narrow detection range, so that an obstacle between the vehicle body and the open / close door can be reliably detected. It is necessary to provide a large number of sensors. In particular, when there is a wide range that needs to be detected in the width direction of the vehicle, such as a hatchback door, it is necessary to provide more sensors to prevent detection omission between the sensors. There is a problem that the score and cost increase.

  The present invention has been made in view of such a point, and an obstacle detection system capable of reliably detecting an obstacle between the vehicle body and the door without bringing the door into contact with the obstacle, and the same It aims at providing the vehicle apparatus provided with.

  In the obstacle detection system of the present invention, at least one of the radar device or the transponder is provided at a first position on the open / close door side provided in the vehicle body, and the distance changes according to the open / close state of the open / close door. The transponder or the other of the radar device is provided at a second position on the vehicle body side, and the radar device transmits a transmission circuit that wirelessly transmits a transmission signal of a predetermined frequency, and a reply signal returned from the transponder. A receiving circuit for receiving, measuring means for measuring distance information from phase information of the transmission signal and the return signal, and distance information corresponding to a distance between the transponder and the radar device at least when the open / close door is fully open. Stored memory, distance information measured by the measuring means when the open / close door is fully opened, and stored in the memory The distance information is compared with the obstacle detection means for determining that there is an obstacle when the distance information does not match, the transponder receives a transmission signal wirelessly transmitted from the radar device, A transmission / reception circuit that sends back reply signals having the same frequency and the same phase is provided.

  According to this configuration, the distance information is measured from the phase information of the transmission signal to the transponder and the reply signal from the transponder, and the distance information measured is compared with the distance information stored in the memory. In this case, since it is determined that there is an obstacle between the first position and the second position, that is, between the vehicle body and the opening / closing door, the vehicle body can be opened / closed without bringing the opening / closing door into contact with the obstacle. Obstacles between the doors can be detected. Therefore, unlike the conventional case, even if the obstacle is a human body, there is no possibility of injury, and there is no possibility of damaging the vehicle body when contacting the obstacle. In addition, because obstacles are detected using radio signal transmission and reception (radiation of radio waves), the obstacle detection range is wider than conventional infrared and millimeter wave radars, and the width direction of the vehicle is similar to hatchback doors. Even when the detection range is wide, obstacles can be detected reliably, and the number of parts and cost can be suppressed. Here, the distance information may be the phase difference information itself in addition to the distance data calculated from the phase difference between the phase of the transmission signal transmitted by the radar device and the phase of the reply signal returned by the transponder.

  In the obstacle detection system according to the present invention, for example, the transponder is provided at the first position, and the radar device is provided at the second position.

  In the obstacle detection system according to the present invention, the open / close door may be a rear door having a first side pivotably attached to the vehicle body, and the transponder may be disposed outside the rear door. A first transponder provided on one side from the center of the second side opposite to the first side, and a first transponder provided on the other side from the center of the second side. Each of the first and second distance information corresponding to the distance between the first and second transponders and the radar device when the open / close door is at a fully opened state. The obstacle detecting means compares the distance information measured by the measuring means with the first and second distance information stored in the memory when the opening / closing door is fully opened, and compares the first distance information and the second distance information stored in the memory. And second distance It is preferable either information in the case of a disagreement to be determined that there is an obstacle.

  According to this configuration, the distance information of the first and second transponders is measured, the two measured distance information is compared with the first and second distance information stored in the memory, and these distances are compared. If any of the information does not match, it is determined that there is an obstacle between the vehicle main body and the open / close door, so that the obstacle between the vehicle main body and the open / close door can be reliably detected.

  In the obstacle detection system, the present invention further includes opening detection means for detecting an opening of the rear door with respect to the vehicle body, and the memory includes a first opening corresponding to each opening of the rear door. 1 and second distance information is stored, and the obstacle detecting means includes first and second distance information corresponding to the distance information measured by the measuring means and the opening information given from the opening detecting means. If any one of the first and second distance information does not match, it is preferable to determine that there is an obstacle.

  According to this configuration, when the measured distance information and the first and second distance information corresponding to the opening degree information are respectively compared, and either one of the first and second distance information does not match, Since it is determined that there is an obstacle, obstacle detection according to the opening degree of the rear door can be performed even during the closing operation of the rear door.

  Further, according to the present invention, in the obstacle detection system, the first position and the second position are respectively located on the opening / closing door side and the vehicle body side where the opening / closing door is in the same position when the opening / closing door is closed. There may be provided warning means for warning when the distance between the transponder and the radar device is a predetermined value or more.

  According to this configuration, since a warning is given when the distance between the transponder and the radar device is equal to or greater than a predetermined value, a so-called half-door state in which the open / close door is not properly closed with respect to the vehicle body can be prevented.

  In the obstacle detection system according to the present invention, the open / close door is a rear door having a first side rotatably attached to the vehicle body, and the transponder is an outer peripheral edge portion of the rear door. A first transponder provided on one side of the center of the second side facing the first side, and a second transponder provided on the other side of the center of the second side. The radar device is provided at a position facing the first transponder, and is provided at a position facing the second transponder, the first radar device communicating wirelessly with the first transponder. And a second radar device that wirelessly communicates with the second transponder, wherein the measuring means includes the transmission signal of the first radar device and the first transponder. Measuring the first distance information from the phase information of the transmission signal, measuring the second distance information from the phase information of the transmission signal of the second radar device and the return signal of the second transponder, and The detection means compares the first and second distance information measured by the measurement means when the open / close door is fully opened, and if the first and second distance information does not match, there is an obstacle. It is also possible to determine.

  A vehicle apparatus according to the present invention includes the obstacle detection system. According to this configuration, it is possible to provide a vehicle device that reliably detects an obstacle between the vehicle body and the opening / closing door without bringing the opening / closing door into contact with the obstacle. Here, as an opening-and-closing door, the back door (hatchback door) provided in the vehicle rear part and the sliding door provided in the vehicle side part are mentioned, for example.

  According to the present invention, it is possible to reliably detect an obstacle between the vehicle main body and the open / close door without contacting the obstacle.

1 is a schematic diagram showing an obstacle detection system according to a first embodiment of the present invention. It is a figure which shows an example of the attachment position to the vehicle of the radar apparatus and transponder of this Embodiment. It is a figure which shows the distance information stored in the memory of this Embodiment. It is a flowchart explaining the obstacle detection operation | movement of the obstacle detection system which concerns on this Embodiment. It is the schematic which shows the obstacle detection system which concerns on 2nd Embodiment. It is a figure which shows the distance information stored in the memory of this Embodiment. It is a flowchart explaining the obstacle detection operation | movement of the obstacle detection system which concerns on this Embodiment. It is a figure for demonstrating the other example of an obstruction detection system.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. An obstacle detection system according to an embodiment of the present invention detects an obstacle between a vehicle main body and an electric opening / closing door (automatic opening / closing door) provided in the vehicle main body. Hereinafter, a vehicle apparatus to which the obstacle detection system according to the present embodiment is applied will be described as an example.

(First embodiment)
FIG. 1 is a diagram showing an obstacle detection system applied to a vehicle apparatus according to a first embodiment of the present invention. The obstacle detection system 10 shown in FIG. 1 includes a plurality (three) of transponders T (T1, T2, T3), and a radar device 20 provided at a position where radio communication with the transponder T is possible. One of the radar device 20 and the transponder T is provided at a first position on the side of an automatic opening / closing door (hereinafter referred to as “opening / closing door”) 32 provided in the vehicle main body 31, and the other of the radar device 20 and the transponder T is It is provided at a second position on the vehicle main body 31 side where the distance changes according to the open / close state of the open / close door 32 (FIG. 2). Here, as an opening-and-closing door, the back door (hatchback door) provided in the vehicle rear part and the sliding door provided in the vehicle side part are mentioned, for example. In the present embodiment, a rear door will be described as an example of an open / close door.

  As shown in FIG. 2 (a), the first transponder T1 is an outer peripheral edge portion of a rear door (opening / closing door) 32 having a first side 32a rotatably attached to the vehicle body 31. The second transponder T2 is provided on one side (the left side in the figure) from the center of the second side 32b facing the first side 32a, and the second transponder T2 is located on the other side (the right side in the figure) from the center of the second side 32b. And a third transponder T3 is provided at the center of the second side 32b. On the other hand, the radar device 20 is in the vicinity of the opening 31a provided in the rear portion of the vehicle body 31, and when the rear door 32 is closed, the radar device 20 approaches the second side 32b of the rear door 32 and faces the third transponder T3. It is attached to the position to be. In the present embodiment, a single radar device 20 and three transponders T1, T2, and T3 are used, but the number of radar devices 20 and transponders T and their mounting positions are arbitrary. For example, as shown in FIG. 2B, two transponders T1 and T2 may be provided on the left and right sides of the second side 32b of the rear door 32.

  Returning to FIG. 1, the radar apparatus 20 includes a transmission / reception unit 21, a measurement unit 22, a memory 23, an obstacle detection unit 24, a warning unit 25, and an opening / closing door drive unit 26. The transmission / reception unit 21 transmits a transmission signal of a predetermined frequency band from the antenna to each of the transponders T1, T2, T3, and sends this transmission signal to the measurement unit 22 (transmission circuit). Here, a frequency band from 3 MHz to several tens of MHz is used. Further, the transmission / reception unit 21 receives a return signal (reception signal) returned from each of the transponders T1, T2, and T3 via the antenna (reception circuit), and sends the return signal to the measurement unit 22. The measuring unit 22 measures distance information with respect to each transponder T1, T2, T3 from the transmission signal transmitted by the transmitting / receiving unit 21 and the phase information of the return signal sent back from each transponder T1, T2, T3, and this measured distance. Information (measured distance information) is sent to the obstacle detection unit 24. Here, the distance information is distance data calculated from the phase difference between the phase of the transmission signal transmitted by the radar device 20 and the phase of the return signal returned by the transponder T. As shown in FIG. 3, the memory 23 stores first, second, and third distance information corresponding to the distances between the transponders T1, T2, T3 and the radar device 20 when the open / close door 32 is fully opened. Has been. Here, the distance information in the fully open state of the open / close door 32 is stored in the memory 23, but the present invention is not limited to this, and for example, the distance information in the half open state may be stored.

  The obstacle detection unit 24 compares the actually measured distance information measured by the measurement unit 22 with the distance information stored in the memory 23 when the open / close door is fully opened. It is determined that there is an obstacle between the main body 31 and the rear door 32, and the determination result is sent to the opening / closing door drive unit 26. When the opening / closing door drive unit 26 receives the determination result that there is an obstacle from the obstacle detection unit 24, the opening / closing door drive unit 26 stops driving the opening / closing door 32. The warning part 25 is provided in each part of the opening / closing door 32 side and the vehicle main body 31 side where the first position and the second position are the same positions when the opening / closing door 32 is closed. The warning unit 25 warns by warning sound or lighting of a warning lamp when the distance between the transponder T and the radar device 20 is a predetermined value or more. Thereby, the so-called half door state in which the open / close door 32 is not properly closed with respect to the vehicle body 31 can be prevented.

  Each transponder T1, T2, T3 has a transmission / reception circuit that receives a transmission signal wirelessly transmitted from the radar apparatus 20 and sends back a return signal (transmission signal) having the same frequency and the same phase as the transmission signal. When the transponders T1, T2, and T3 receive the transmission signals from the radar device 20, respectively, the transponders T1, T2, and T3 wirelessly transmit response signals having the same frequency and the same phase as the received reception signals to the radar device 20, respectively.

  FIG. 4 is a flowchart for explaining the obstacle detection operation of the obstacle detection system 10 according to the present embodiment. Here, the case where the presence or absence of an obstacle is determined for each of the transponders T1, T2, and T3 and the driving of the rear door (opening / closing door) 32 is stopped will be described as an example.

  As shown in FIG. 4, when the radar apparatus 20 receives a request signal for the automatic closing (closing operation) of the rear door 32 (step S401), the transmission / reception unit 21 transmits a transmission signal having a predetermined frequency to the first transponder T1. And sent to the measurement unit 22. In the first transponder T1, a transmission signal having the same frequency and the same phase as the reception signal received from the transmission / reception unit 21 is generated, and this transmission signal is sent back to the radar device 20 as a return signal. The reply signal received from the first transponder T1 is sent to the measurement unit 22. The measuring unit 22 measures the distance from the first transponder T1 from the transmission signal transmitted by the device itself and the phase information of the return signal received from the first transponder T1 (step S402). Next, the actually measured distance information measured by the obstacle detection unit 24 is compared with the distance information stored in the memory. When the distance information does not match (step S403: No), the radar apparatus 20 and the first transponder are compared. It is determined that there is an obstacle between T1 and the opening / closing door drive unit 26 stops the driving of the opening / closing door 32 (step S404). If the actually measured distance information matches the distance information stored in the memory (step S403: Yes), it is determined that there is no obstacle between the radar device 20 and the first transponder T1, and the second transponder T2 Move on to the distance measurement.

  Next, as in step S402, the measurement unit 22 measures the distance from the second transponder T2 from the phase information of the transmission signal transmitted by the own device and the return signal received from the second transponder T2 (step). S405). The measured actual distance information is compared with the distance information stored in the memory. When the distance information does not match (step S406: No), there is an obstacle between the radar device 20 and the second transponder T2. The opening / closing door drive unit 26 stops the driving of the opening / closing door 32 (step S404). If the actually measured distance information matches the distance information stored in the memory (step S406: Yes), it is determined that there is no obstacle between the radar device 20 and the second transponder T2, and the third transponder T3. Move on to the distance measurement.

  Next, as in step S402, the measurement unit 22 measures the distance to the third transponder T3 from the transmission signal transmitted by the own apparatus and the phase information of the return signal received from the third transponder T3 (step S402). S407). The measured actual distance information is compared with the distance information stored in the memory, and when these distance information does not match (step S408: No), there is an obstacle between the radar device 20 and the third transponder T3. The opening / closing door drive unit 26 stops the driving of the opening / closing door 32 (step S404). When the measured distance information matches the distance information stored in the memory (step S408: Yes), it is determined that there is no obstacle between the radar device 20 and the third transponder T3, and the rear door 32 is automatically operated. Close is started (step S409).

  In the flow shown in FIG. 4, when the obstacle is detected, the driving of the opening / closing door 32 is stopped. For example, when the obstacle is detected, the warning unit 25 issues a warning with a warning sound and the driving of the opening / closing door 32. You may stop. In the flow shown in FIG. 4, the case where distance measurement and the presence / absence determination of obstacles are sequentially performed for each transponder T has been described as an example. However, the distance measurement between all the transponders T1, T2, and T3 and the presence / absence of obstacles. The determination may be performed at the same time.

  As described above, according to the present embodiment, distance information is measured from the phase information of the transmission signals transmitted to the transponders T1, T2, and T3 and the return signals received from the transponders T1, T2, and T3. 23, the first, second and third distance information are respectively compared. If the distance information does not match, the distance between the first position and the second position, that is, the vehicle main body 31 and It is determined that there is an obstacle between the open / close door 32. Thereby, the obstacle between the vehicle main body 31 and the opening / closing door 32 can be detected without bringing the opening / closing door 32 into contact with the obstacle. Therefore, unlike the conventional case, there is no possibility of injury even if the obstacle is a human body, and there is no possibility of damaging the vehicle body when contacting the obstacle. In addition, because obstacles are detected using radio signal transmission and reception (radiation of radio waves), the obstacle detection range is wider than conventional infrared and millimeter wave radars, and the width direction of the vehicle is similar to hatchback doors. Even when the detection range is wide, obstacles can be detected reliably, and the number of parts and cost can be suppressed.

(Second Embodiment)
Next, an obstacle detection system according to the second embodiment of the present invention will be described. In the obstacle detection system according to the second embodiment, the radar device detects an obstacle between the vehicle body and the opening / closing door based on a distance from the transponder corresponding to the opening degree (angle) of the opening / closing door. However, this is different from the first embodiment. Therefore, only the differences will be described.

  FIG. 5 is a diagram showing an obstacle detection system according to the second embodiment. The radar apparatus 20a of the obstacle detection system 50 shown in FIG. 5 is configured by adding an opening degree detection unit 51 to the radar apparatus 20 shown in FIG. The opening degree detection unit 51 detects the opening degree (angle) of the opening / closing door 32 with respect to the vehicle main body 31, and when the opening degree of the opening / closing door 32 is detected, the detection result (opening information) is sent to the obstacle detection unit 24a. As shown in FIG. 6, the memory 23a stores distance information with respect to the transponders T1, T2, and T3 corresponding to the opening degree of the open / close door 32. In FIG. 6, for example, the opening information is shown every opening from 120 degrees to 30 degrees of the opening / closing door 32 when the opening / closing door 32 is fully opened, and distance information (first and second) of the three transponders T1, T2, T3 is shown. , Third distance information). When the obstacle detection unit 24a receives the opening degree information from the opening degree detection unit 51, the obstacle detection unit 24a acquires distance information of the transponders T1, T2, and T3 corresponding to the opening degree information from the memory 23a and receives the distance information from the measurement unit 22. Compared with the actually measured distance information, if any of these distance information does not match, it is determined that there is an obstacle.

  FIG. 7 is a flowchart for explaining the obstacle detection operation of the obstacle detection system 50 according to the second embodiment. Here, when the auto-close request signal of the rear door (opening / closing door) 32 is received and during the auto-closing operation, the presence or absence of an obstacle is determined for each of the transponders T1, T2, and T3, and the warning and the driving of the rear door 32 are performed. The case of stopping will be described as an example. In addition, the same code | symbol is attached | subjected about the operation | movement same as the flow shown in FIG. 4, and the detailed description is abbreviate | omitted.

  As shown in FIG. 7, when the radar apparatus 20a receives a request signal for the automatic closing of the rear door (step S401), the opening degree detection unit 51 detects the current opening degree of the rear door, and the opening degree information is obtained. It is sent to the obstacle detection unit 24a (step S701). Next, a transmission signal having a predetermined frequency is sent to the first transponder T1, and a transmission signal having the same frequency and the same phase as the reception signal received by the first transponder T1 is generated and sent to the radar device 20a as a return signal. Sent back. The measuring unit 22 measures the distance from the first transponder T1 from the transmission signal transmitted by the device itself and the phase information of the return signal received from the first transponder T1 (step S402). Next, distance information of the first transponder T1 corresponding to the opening degree information received from the opening degree detection unit 51 in the memory 23a is acquired by the obstacle detection unit 24a, and the distance information and the measurement unit 22 are received. When the distance information does not match with the actually measured distance information (step S702: No), it is determined that there is an obstacle between the radar device 20a and the first transponder T1, and the warning unit 25 issues a warning. (Step S703). If the measured distance information matches the distance information stored in the memory 23a (step S702: Yes), it is determined that there is no obstacle between the radar device 20a and the first transponder T1, and the second transponder The process proceeds to distance measurement with T2.

  Next, as in step S402, the distance from the second transponder T2 is measured by the measuring unit 22 (step S405). When the distance information of the second transponder T2 corresponding to the opening degree information received from the opening degree detection unit 51 is compared with the actually measured distance information received from the measurement unit 22, these distance information do not match (step S704: No) Then, it is determined that there is an obstacle between the radar device 20a and the second transponder T2, and a warning is issued (step S703). When the actually measured distance information matches the distance information stored in the memory 23a (step S704: Yes), it is determined that there is no obstacle between the radar device 20a and the second transponder T2, and the third transponder The process proceeds to distance measurement with T3.

  Next, as in the above step S402, the distance from the third transponder T3 is measured by the measuring unit 22 (step S407). When the distance information of the third transponder T3 corresponding to the opening degree information received from the opening degree detecting unit 51 is compared with the actually measured distance information received from the measuring unit 22, these distance information do not match (step S705: No) Then, it is determined that there is an obstacle between the radar device 20a and the third transponder T3, and a warning is given (step S703). If the measured distance information matches the distance information stored in the memory 23a (step S705: Yes), it is determined that there is no obstacle between the radar device 20a and the third transponder T3, and the rear door 32 Auto-close is started (step S409).

  After the automatic closing of the rear door 32 is started, the opening degree detection unit 51 detects the current opening degree of the rear door 32, and the opening degree information is sent to the obstacle detection unit 24a (step S706). Next, as in step S402, the distance from the first transponder T1 is measured by the measuring unit 22 (step S707). Next, distance information of the first transponder T1 corresponding to the opening degree information received from the opening degree detection unit 51 in the memory 23a is acquired by the obstacle detection unit 24a, and the distance information and the measurement unit 22 are received. When the distance information does not match with the actually measured distance information (step S708: No), it is determined that there is an obstacle between the radar device 20a and the first transponder T1, and the opening / closing door driving unit 26 opens and closes the opening / closing door. 32 is stopped (step S709). If the actually measured distance information matches the distance information stored in the memory 23a (step S708: Yes), it is determined that there is no obstacle between the radar device 20a and the first transponder T1, and the second transponder The process proceeds to distance measurement with T2.

  Next, as in step S402, the distance from the second transponder T2 is measured by the measurement unit 22 (step S710). When the distance information of the second transponder T2 corresponding to the opening degree information received from the opening degree detecting unit 51 is compared with the actually measured distance information received from the measuring unit 22, these distance information do not match (step S711: No) Then, it is determined that there is an obstacle between the radar device 20a and the second transponder T2, and the driving of the open / close door 32 is stopped (step S709). If the actually measured distance information matches the distance information stored in the memory 23a (step S711: Yes), it is determined that there is no obstacle between the radar device 20a and the second transponder T2, and the third transponder The process proceeds to distance measurement with T3.

  Next, as in step S402, the distance from the third transponder T3 is measured by the measuring unit 22 (step S712). When the distance information of the third transponder T3 corresponding to the opening degree information received from the opening degree detecting unit 51 is compared with the actually measured distance information received from the measuring unit 22, these distance information do not match (step S713: No) Then, it is determined that there is an obstacle between the radar device 20a and the third transponder T3, and the driving of the open / close door 32 is stopped (step S709). When the actually measured distance information matches the distance information stored in the memory 23a (step S713: Yes), the driving of the open / close door 32 (automatic closing operation) is continued (step S714).

  Thus, according to the present embodiment, the measured distance information of the plurality of transponders T is compared with the distance information corresponding to the opening degree information received from the opening degree detecting unit 51 in the memory 23a. If any of these distance information does not match, it is determined that there is an obstacle. Therefore, even when the rear door 32 is in the automatic closing operation, obstacle detection corresponding to each opening degree of the rear door 32 is performed step by step. Can be done.

  The present invention is not limited to the above-described embodiment, and can be implemented with various modifications. In the above-described embodiment, the size, shape, and the like illustrated in the accompanying drawings are not limited thereto, and can be appropriately changed within a range in which the effect of the present invention is exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  In the above embodiment, the distance information measured by the distance measuring unit and the distance information stored in the memory are compared to detect the presence or absence of an obstacle, but the radar device 20 is provided corresponding to the number of transponders T, Each radar device 20 may measure only distance information with a specific transponder T, and may compare the distance information measured by each radar device 20 to detect the presence or absence of an obstacle. In this case, for example, as shown in FIG. 8, the three radar devices 20 a, 20 b, and 20 c are provided in the vicinity of the opening 31 a provided in the rear part of the vehicle body 31 and on the second side 32 b of the rear door 32. The three transponders T1, T2 and T3 are attached at positions facing each other. The first radar device 20a transmits / receives a transmission / reception signal to / from the first transponder T1 to measure first distance information based on phase information, and the second radar device 20b transmits / receives a transmission / reception signal to / from the second transponder T2. Then, the second distance information is measured based on the phase information, and the third radar device 20c transmits / receives a transmission / reception signal to / from the third transponder T3 and measures the third distance information based on the phase information. In this case, each of the radar devices 20a, 20b, and 20c transmits and receives signals having different frequency bands, and measures the first to third distance information. Then, the obstacle detection unit 24 compares the first, second, and third distance information measured by each radar device (each measurement unit) 20a, 20b, 20c, and compares the first, second, and third distance information. If any of the distance information does not match, it is determined that there is an obstacle between the vehicle body 31 and the open / close door 32.

  In the above embodiment, the presence / absence of an obstacle is determined based on the distance information calculated from the phase difference between the phase of the transmission signal transmitted by the radar device 20 and the phase of the return signal sent back by the transponder T. The presence or absence of an obstacle may be determined based on the basis. Moreover, although the case where the obstacle detection system is applied to a vehicle device has been described as an example in the above embodiment, the present invention is not limited to this, and is applied to, for example, an automatic door installed at the entrance of a store or a building. It is also possible to do.

  The present invention is applicable to a vehicle device that detects an obstacle between a vehicle main body and an automatic opening / closing door provided in the vehicle main body.

10 Obstacle detection system 20, 20a Radar device 21 Transmitter / receiver (transmitter circuit, receiver circuit)
22 Measuring unit (measuring means)
23, 23a Memory 24, 24a Obstacle detection unit (obstacle detection means)
25 Warning section (Warning means)
26 Opening / closing door drive unit 31 Vehicle body 32 Opening / closing door 51 Opening detection unit (opening detection means)
T1, T2, T3 transponder

Claims (7)

One of at least one radar device or transponder is provided at a first position on the open / close door side provided on the vehicle main body, and the second position on the vehicle main body side where the distance changes according to the open / close state of the open / close door Is provided with the other of the transponder or the radar device,
The radar device is
A transmission circuit that wirelessly transmits a transmission signal of a predetermined frequency;
A receiving circuit for receiving a reply signal returned from the transponder;
Measuring means for measuring distance information from phase information of the transmission signal and the reply signal;
A memory storing distance information corresponding to the distance between the transponder and the radar device when at least the open / close door is fully open;
An obstacle detection means for comparing the distance information measured by the measurement means with the distance information stored in the memory when the open / close door is fully opened, and determining that there is an obstacle if the distance information does not match; With
The transponder is
An obstacle detection system comprising a transmission / reception circuit that receives a transmission signal wirelessly transmitted from the radar device and returns a reply signal having the same frequency and the same phase.   The obstacle detection system according to claim 1, wherein the transponder is provided at the first position, and the radar device is provided at the second position. The open / close door is a rear door having a first side rotatably attached to the vehicle body,
The transponder is an outer peripheral edge portion of the rear door, the first transponder provided on one side from the center of the second side facing the first side, and the center of the second side A second transponder provided on the other side,
The memory stores first and second distance information corresponding to the distance between the first and second transponders and the radar device at least when the open / close door is fully open,
The obstacle detecting means compares the distance information measured by the measuring means with the first and second distance information stored in the memory when the open / close door is fully opened, and compares the first and second distance information. The obstacle detection system according to claim 2, wherein if any one of the distance information does not match, it is determined that there is an obstacle. Opening degree detecting means for detecting an opening degree of the rear door with respect to the vehicle body;
The memory stores first and second distance information corresponding to each opening degree of the rear door, and the obstacle detecting means provides the distance information measured by the measuring means and the opening degree detecting means. And comparing the first and second distance information corresponding to the opening information to be determined, and determining that there is an obstacle when either one of the first and second distance information does not match. The obstacle detection system according to claim 3. The first position and the second position are provided in each part on the open / close door side and the vehicle main body side which are the same position when the open / close door is in a closed state,
The obstacle detection system according to any one of claims 1 to 4, further comprising a warning unit that warns when a distance between the transponder and the radar device is equal to or greater than a predetermined value. The open / close door is a rear door having a first side rotatably attached to the vehicle body,
The transponder is an outer peripheral edge portion of the rear door, the first transponder provided on one side from the center of the second side facing the first side, and the center of the second side A second transponder provided on the other side,
The radar device is provided at a position facing the first transponder, and is provided at a position facing the first transponder and a first radar device that communicates with the first transponder, and the second transponder. A second radar device that wirelessly communicates with
The measuring means measures the first distance information from the phase information of the transmission signal of the first radar device and the return signal of the first transponder, and transmits the transmission signal of the second radar device and the second signal. Measure the second distance information from the phase information of the return signal of the transponder,
The obstacle detection means compares the first and second distance information measured by the measurement means when the open / close door is fully opened, and if the first and second distance information does not match, the obstacle detection means The obstacle detection system according to claim 1 or 2, wherein it is determined that an object is present.   A vehicle apparatus comprising the obstacle detection system according to any one of claims 1 to 6.

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